Figure 28: Displacement magnitude of the assembly composed of the first four links, including cable transmission contributions, under a generic load condition Figure 29: Displacement magnitude analysis of the assembly composed of the last 3 links, including cable transmission contributions, under a generic load condition Action: the Control of Grasping, Ablex Publishing Corporation, Norwood, NJ, 1990. [2]. Loomis J.M., Lederman S.J., “Tactual Perception,” in K. Boff, L. Kaufmann, J. Thomas (Eds.), Handbook of Perception and Human Performance, J. Wiley, New York, 198+6. [3]. Gibson J.J., “The Senses Considered as Perceptual Systems,” Greenwood Press Publishers, Westport, CT, 1966. Link #0 #1 #2 #3 #4 #5 #6 #7 Mass 81 26 32 14 51 064 028 007 Table 5: Link masses (with structural parts made of aluminium) Massimo Bergamasco / Haptic Interfaces 22 [4]. Sheridan T.B., “Telerobotics, Automation and Human Supervisory Control,” MIT Press, Cambridge, MA, 1992. [5]. Bergamasco M., De Micheli D.M., Parrini G., Salsedo F., Scattareggia Marchese S., "Design Considerations for Glove-like Advanced Interfaces,"Proc. of ICAR’91, Pisa, Italy, 1991. [6]. Bergamasco M., "Design of Hand Force Feedback Systems for Glove-like Advanced Interfaces, Proc. of the First IEEE Int. Workshop on Robot and Human Communication ROMAN92, Hosei University, Tokyo, Japan, 1992. [7]. Iberall T., MacKenzie C.L.,“Opposition Space and Human Prehension,” in S.T. Venkataraman, T. Iberall (Eds.) Dextrous Robot Hands, Springer-Verlag, New York, 1990. [8]. Bergamasco M.,” Different Inter-Action Modalities Between the Human and the Virtual Environments,” in preparation. [9]. Millman P., Colgate J.,”Design of a Four Degree-of- Freedom Force Reflecting Manipulandum with a Specified Force/Torque Workspace,” Proc. of IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, 1991. [10]. Hayward V., Choksi J., Lanvin G., Ramstein C., ”Design of Multi-Objective Optimization of a Linkage for a Haptic Interface,” Proc. of the 4th Workshop on Advances in Robot Kinematics, Ljublijana, Slovenia, 1994. [11]. Allotta B., Bergamasco M.,"The Range of Wrenches that can be Statically Applied by a Force Replicating Device," Proc. of IEEE Int. Workshop on Robot and Human Communication ROMAN94, Nagoya, Japan, 1994. [12]. J.K. Salisbury, “Teleoperator Hand Design Issues”, Proc. of IEEE International Conference on Robotics and Automation, S.Francisco, April 1986. [13]. William T. Townsend, “The Effect of Transmission Design on Force-Controlled Manipulator Performance”, thesis published by the Artificial Intelligence Laboratory, Massachussetts Institute of Technology, 1988, Boston. [14]. J.E. Colgate, “On the Inherent Limitations of Force Feedback Compliant Controllers”, International Journal of Robotic Research, ASME publ., (12)1989. [15]. Thurston L. Brooks, “Telerobot Response Requirements”, STX Coorporation, Rep. N. STX/ROB/90-03, Lanham, 1990. Joint #1 #2 #3 #4 #5 #6 #7 θ 0 90 0 90 0 0 0 Table 6: Joint angle in test configuration(in degrees) c The Eurographics Association 2005.
[16]. T. H. Massie and J. K. Salisbury, “The PHANToM Haptic Interface: a Device for Probing Virtual Objects”, asme, Chicago, IL, 1994. [17]. William R. Mark and Scott C et Al., “Adding Force Feedback to Graphics Systems: Issues and Solutions”, siggraph, 1996. [18]. J. E. Colgate and G. Schenkel, “Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces”, Proc. of American Control Conference, 3236-3240, 1994. [19]. S. Hirose, “Biologically Inspired Robots”,Oxford University Press, Oxford (UK), 1993 c The Eurographics Association 2005. Massimo Bergamasco / Haptic Interfaces 23
- Page 1 and 2: EUROGRAPHICS 2005 Tutorial Multimod
- Page 3 and 4: EUROGRAPHICS 2005 Tutorial Abstract
- Page 5 and 6: ical velocities are estimated in ab
- Page 7 and 8: LDOF# HDOF# VHDOF# Complexity Class
- Page 9 and 10: Figure 5: The MORIS simulator Figur
- Page 11 and 12: Contact Areas F 1 F2 Figure 10: The
- Page 13 and 14: contact point, c we know that all t
- Page 15 and 16: Figure 17: Anthropomorphic kinemati
- Page 17 and 18: Thirdly, although the EFF is fully
- Page 19 and 20: Figure 22: An example of arm trajec
- Page 21: Figure 27: Differential tendon tens
- Page 25 and 26: choice, when it is not requested to
- Page 27 and 28: Figure 4: The Dual point HI: GRAB d
- Page 29 and 30: Massimo Bergamasco / Haptic Interfa
- Page 31 and 32: In 1991, Wellner proposed for the f
- Page 33 and 34: number all over the workspace when
- Page 35 and 36: 6. EMPLOYMENT OF THE SYSTEM The dev
- Page 37 and 38: [23] Intuitive web site: www.intuit
- Page 39 and 40: formula, instead of a system of dif
- Page 41 and 42: Until a relative motion between the
- Page 43 and 44: force (kg), position (cm) 8 7 6 5 4
- Page 45 and 46: EUROGRAPHICS 2005 Tutorial A novel
- Page 47 and 48: G. Cini, A. Frisoli, S. Marcheschi,
- Page 49 and 50: G. Cini, A. Frisoli, S. Marcheschi,
- Page 51 and 52: G. Cini, A. Frisoli, S. Marcheschi,
- Page 53 and 54: Figure 1: Overview of the GRAB syst
- Page 55 and 56: actual position within the environm
- Page 57 and 58: training opportunities. During the
- Page 59 and 60: EUROGRAPHICS 2005 Tutorial 1. abstr
- Page 61 and 62: Table 1: Summary of GRAB features F
- Page 63 and 64: Table 3: Finger force vectors Symbo
- Page 65 and 66: the relative position did not match
- Page 67 and 68: operator’s arm allows assessing t
- Page 69 and 70: Figure 6: The pinching haptic inter
- Page 71 and 72: EUROGRAPHICS 2005 Tutorial Haptic D
- Page 73 and 74:
contact area, while the collision d
- Page 75 and 76:
6.5. Results 6.5.1. Haptic experien
- Page 77 and 78:
Familiarity with VR systems and wit
- Page 79:
[18]. Gregory AD, Ehman SA, Ling MC
Change language