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Proceedings Paper

2-DOF haptic device with DC motors and MR brakes
Author(s): Jinung An; Dong-Soo Kwon
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Paper Abstract

This paper presents the 2-DOF haptic device in which DC motors and MR brakes are equipped. To apply MR brakes to the 2-DOF haptic device, its kinematic requirement is described by Jacobian analysis. Through the analysis, MR brakes can be used to display the damping force in a multi-DOF haptic device when it has the orthogonal Jacobian such as Cartesian manipulator. A five bar linkage type haptic device, which has the nonorthogonal Jacobian, is developed to verify the theoretical effort. Experimental results show that the five bar linkage type can't display the 2 DOF virtual environments due to its kinematic constraints, that is, nonorthogonal Jacobian.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67941I (9 January 2008); doi: 10.1117/12.784403
Show Author Affiliations
Jinung An, Kwangwoon Univ. (South Korea)
Dong-Soo Kwon, Korea Advanced Institute of Science and Technology (South Korea)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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