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C. Melchiorri, G. Vassura
"Development and Application of Wire-Actuated Haptic Interfaces"
 
Type Article
Author(s) C. Melchiorri, G. Vassura
Title Development and Application of Wire-Actuated Haptic Interfaces
Editor Journal of Robotic Systems
Keywords Wire-based Manipulators, Haptic Interfaces, Virtual Reality, Force Control, Blind Persons
Abstract
Haptic devices are being used in more and more applications, ranging from training, education, entertainment, design, space experiments, and so on. In this paper, alternative solutions for the mechanical design of such devices, different from the classical ones based on `rigid' kinematic chains, are presented. These solutions adopt actuated wires, and present some features that can be very useful in particular applications. Due to the mechanical construction, these devices offer some peculiar control problems, which must be properly addressed for their use. These aspects are discussed, and an example of such a device for visually impaired persons is illustrated, as well as other possible applications.
Document 3e2b.Document.pdf (570749 bytes)
Year 2001


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