Large Workspace Haptic Devices for Human-Scale Interaction: A Survey

One aim of haptic interfaces is to enhance the user's immersion in a virtual environment through the stimulation of the haptic sense. Some applications demand a large-volume workspace to allow human-scale interaction. Different design approaches aimed at addressing this issue, such as specific non redundant devices, redundant robots, mobile or wearable haptic interfaces and tensed cable architectures are reviewed and compared in this paper, concluding with some guidelines for their applicability.

[1]  Diego Borro,et al.  A large haptic device for aircraft engine maintainability , 2004, IEEE Computer Graphics and Applications.

[2]  Martin Buss,et al.  Towards a mobile haptic interface for bimanual manipulations , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Makoto Sato,et al.  A 3D Spatial Interface Device Using Tensed Strings , 1994, Presence: Teleoperators & Virtual Environments.

[4]  Domenico Prattichizzo,et al.  An Experimental Study of the Limitations of Mobile Haptic Interfaces , 2004, ISER.

[5]  Vincent Hayward,et al.  Dexterity measures with unilateral actuation constraints: the n+1 case , 1994, Adv. Robotics.

[6]  Martin Buss,et al.  VISHARD10, a novel hyper-redundant haptic interface , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[7]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[8]  Florian Gosselin,et al.  Widening 6-DOF haptic devices workspace with an additional degree of freedom , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[9]  Angel Rubio,et al.  Decreasing the Apparent Inertia of an Impedance Haptic Device by Using Force Feedforward , 2009, IEEE Transactions on Control Systems Technology.

[10]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..

[11]  Florian Gosselin,et al.  Design of a wearable haptic interface for precise finger interactions in large virtual environments , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[12]  Manfred Hiller,et al.  Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms , 1998 .

[13]  Joan Savall,et al.  High-Performance Linear Cable Transmission , 2008 .