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dc.contributor.authorLee, Giuk-
dc.contributor.authorHur, Sung-moon-
dc.contributor.authorOh, Yonghwan-
dc.date.accessioned2024-01-19T11:38:12Z-
dc.date.available2024-01-19T11:38:12Z-
dc.date.created2022-03-07-
dc.date.issued2016-
dc.identifier.issn1050-4729-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/114984-
dc.description.abstractThis 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.-
dc.languageEnglish-
dc.publisherIEEE-
dc.titleA Novel Haptic device with High-force Display Capability and Wide workspace-
dc.typeConference-
dc.description.journalClass1-
dc.identifier.bibliographicCitationIEEE International Conference on Robotics and Automation (ICRA), pp.2704 - 2709-
dc.citation.titleIEEE International Conference on Robotics and Automation (ICRA)-
dc.citation.startPage2704-
dc.citation.endPage2709-
dc.citation.conferencePlaceUS-
dc.citation.conferencePlaceRoyal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN-
dc.citation.conferenceDate2016-05-16-
dc.relation.isPartOf2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)-
dc.identifier.wosid000389516202052-
dc.identifier.scopusid2-s2.0-84977526016-
dc.type.docTypeProceedings Paper-
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KIST Conference Paper > 2016
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