Development of a haptic device "DELTA-4" using parallel link mechanism

Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto

研究成果: ジャーナルへの寄稿会議記事査読

24 被引用数 (Scopus)


Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this paper, a new parallel link mechanism "DELTA-4"is proposed for a new haptic device within high quality force display capability and operability. DELTA-4 consists of 3 DOF of translational motions. The key features of DELTA-4 comparing with conventional parallel link mechanisms are: a redundant actuation, a wide working area and a small footprint. The prototype is equipped with a 3 DOF of rotation mechanism, which its center of motions is located on the wrist position of an operator. An evaluation test of force display was conducted on a prototype of DELTA-4 mechanism.

ジャーナルProceedings - IEEE International Conference on Robotics and Automation
出版ステータス出版済み - 2009
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, 日本
継続期間: 5月 12 20095月 17 2009

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学


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