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Design, Control, and Evaluation of a Hyper-redundant Haptic Device

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Advances in Telerobotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 31))

Summary

The design and control concept of a serial hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF) is discussed. The main motivation for the redundant DOF is the avoidance of interior singularities to increase the workspace while reducing the overall device size. Furthermore, the wrist singularities are eliminated resulting in an orientation workspace of 360° around each axis. Hardware experiments evaluating the closed loop performance and the capability of the inverse kinematics solution to avoid singular configurations confirm the applicability of the proposed design and control concept for human haptic interaction.

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Author information

Authors and Affiliations

  1. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Marc Ueberle & Martin Buss

  2. Institut für Elektrische Energietechnik, Technische Universität Berlin, D-10587, Berlin, Germany

    Nico Mock

Authors
  1. Marc Ueberle
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  2. Nico Mock
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  3. Martin Buss
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Editor information

Editors and Affiliations

  1. Dpto. de Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, 28006, Madrid, Spain

    Manuel Ferre  & Rafael Aracil  & 

  2. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Martin Buss

  3. Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems, University of Bologna, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Robotics Lab. Depto. de Ingeniería de Sistemas y Automática, Universidad Carlos III de Madrid, 28911, (Leganés) Madrid, Spain

    Carlos Balaguer

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© 2007 Springer-Verlag Berlin Heidelberg

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Ueberle, M., Mock, N., Buss, M. (2007). Design, Control, and Evaluation of a Hyper-redundant Haptic Device. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_3

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  • DOI: https://doi.org/10.1007/978-3-540-71364-7_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71363-0

  • Online ISBN: 978-3-540-71364-7

  • eBook Packages: EngineeringEngineering (R0)

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