HapticMaster - a generic force controlled robot for human interaction

被引：116
作者：
van der Linde, RQ [1 ]
Lammertse, P
机构：
[1] Delft Univ Technol, NL-2600 AA Delft, Netherlands
[2] FCS Control Syst, Fokkerweg, Netherlands
来源：
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2003年 / 30卷 / 06期
关键词：
man machine interface; robotics;
D O I：
10.1108/01439910310506783
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper describes the technical principles of a high-performance force controlled robot, called the HapticMaster. It is designed as a generic platform for applications with human interaction. Therefore, it differs significantly from most industrial robots on the one hand, whereas it also differs from most haptic interfaces on the other hand due to its power. An admittance control paradigm is used, which facilitates a high joint stiffness in combination with high force sensitivity. Typical applications for the HapticMaster are found in virtual reality, haptics research, and robot rehabilitation.
引用
收藏
页码：515 / 524
页数：10
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