Grasping force measurement of a 6DOF haptic device for human-computer-interaction

摘要

A haptic interface device has been presented for human-computer-interaction (HCI) in this paper, which uses a 6 degree-of-freedom (DOF) force sensor for six axis force and torque (F/T) measurement. With this device, the user could grasp a moveable handle to interact with simulated 3D environments in real-time for production design, simulation and predication. As a human-computer-interface device, its work mainly depend on the 6 DOF force and torque applied by the user to the handle. The 6DOF sensor structure and its measurement principle are given in our work in details. The whole system is consisted by signal amplifiers, control motors, integrated 6DOF force sensor and power supplies needed for operation.