Lee, Giuk Hur, Sung-moon Oh, Yonghwan 2024-01-19T11:38:12Z 2024-01-19T11:38:12Z 2022-03-07 2016 1050-4729 https://pubs.kist.re.kr/handle/201004/114984 This paper presents a novel haptic device, named VirtuaPower, having abilities of 6 degrees of freedom (DOF) position measurement with a high-force display capability and wide workspace. The VirtuaPower is designed as a parallel mechanism with double in-parallel supporting chains. The mechanical design is presented with constraints and space Jacobians. The workspace and force display capability are computed via kinematic analysis. The VirtuaPower has a wide workspace up to 1 m(3) (semicylinder, diameter 1.8 m x height 1.0 m). Moreover, the force display capability is enhanced compared to any existing haptic device, i.e., approximately 100 N of linear force and 10 Nm of torque. The force display ability is validated by an experiment with a 6 DOF force/torque sensor. Finally, a simple virtual reality environment is experientially realized with the VirtuaPower to show its utility as a haptic device. English IEEE A Novel Haptic device with High-force Display Capability and Wide workspace Conference 1 IEEE International Conference on Robotics and Automation (ICRA), pp.2704 - 2709 IEEE International Conference on Robotics and Automation (ICRA) 2704 2709 US Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN 2016-05-16 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000389516202052 2-s2.0-84977526016 Proceedings Paper