Cartesian Control of a Cable-Driven Haptic Mechanism
Cartesian Control of a Cable-Driven Haptic Mechanism
J.D., Martin and Duchaine, Vincent and Billette, Greg and Perreault, Simon and Gosselin, Clement and Laurendeau, Denis
Advances in Haptics 2010
Abstract : Haptic devices operated through a communication network require a trade-off between the stability of the interaction and the quality of the haptic display. A haptic device must be designed to provide the best haptic display in order to reproduce the tactile sensation of virtual objects, rigid or soft, while ensuring a stable operation to guarantee user safety. The challenges are greater when considering a locomotion interface where a walker can produce large wrenches. A Cable-Driven Locomotion Interface, used as a peripheral in a virtual environment, is designed to address some of the aforementioned issues, since the use of cables as a mechanical transmission is known to provide many advantages such as low inertia, which is helpful in attaining high speeds and high accelerations, and the potential lengths of the cables can allow for large workspaces. Using this mechanism, a walker could navigate in a virtual environment with the aid of two haptic platforms (one for each foot) which can be regarded as two independent parallel robots constrained to six degrees of freedom and sharing a common workspace.
