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Wire-Driven Pneumatic Actuation of a New 6-DOF Haptic Master

[+] Author Affiliations
Carlo Ferraresi, Massimiliana Carello, Francesco Pescarmona, Roberto Grassi

Politecnico di Torino, Torino, Italy

Paper No. ESDA2006-95325, pp. 673-679; 7 pages
doi:10.1115/ESDA2006-95325
From:
  • ASME 8th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering
  • Torino, Italy, July 4–7, 2006
  • ISBN: 0-7918-4248-7 | eISBN: 0-7918-3779-3
  • Copyright © 2006 by ASME

abstract

The paper presents the results of a work carried out by the Department of Mechanics of Politecnico di Torino, concerning the study and development of a six degrees of freedom force reflecting master structure for teleoperation (haptic device) to be controlled by an operator. The latter imposes the six-dimensional linear and angular displacement of a handle, controlling a remote slave robot or interacting with virtual reality. On the other hand, the operator receives a force feedback related to the environment in which the slave robot or virtual device operates. Since the actuators must be force controlled in order to generate a resultant corresponding to the desired wrench, pneumatic actuation has been chosen because it is particularly suitable to the application and quite economical.

Copyright © 2006 by ASME
Topics: Wire , Haptics

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