A Multi-Purpose Haptic Device for Research on Physical Human-Robot Interaction

摘要

Haptic devices are frequently used for commercial applications as well as for research purposes. High quality commercially-available devices are typically expensive, provide limited interfaceability from a software as well as a hardware perspective and are not necessarily optimized in terms of performance. This paper presents a redesign of the Phantom® Premium haptic device that significantly improves its structural stiffness and control performance, thereby extending the usability. The device can be used as a haptic device with both impedance-and admittance-type interaction controllers and also as a position-controlled robotic device.