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Keyword Haptics
Over the last decade, many prototypes and commercial haptic devices have been developed, but very few have offered a convincing and elegant solution to the haptic community. Even worse, these solutions are not only expensive but also have serious limitations when it comes to the actual amount efforce that the device can convey, or the size of its workspace.
To evalutate the performance of a haptic device, it is necessary to understand some of the most important design criteria:
* the mechanical system should display low inertia, high stiffness with low friction (force threshold) and no backlash (machanically induced force discontinuity).
* the force actuators should enable back-drivability, offer a high dynamic range, a sufficient maximum force, a sufficient force output resolution and sufficient force and torque precision.
* the position sensors need to have a good resolution.
* the local control...