Full Content is available to subscribers

Subscribe/Learn More  >

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
  • 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


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



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In