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Human-Scale Bimanual Haptic Interface

Hulin, Thomas and Sagardia, Mikel and Artigas, Jordi and Schaetzle, Simon and Kremer, Philipp and Preusche, Carsten (2008) Human-Scale Bimanual Haptic Interface. In: Proceedings. 5th International Conference on Enactive Interfaces, 2008-11-08, Pisa (Italien). (Submitted)

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This article presents a haptic system for bimanual haptic feedback that is composed of two light-weight robot arms. The system has a workspace and force capabilities similar to that of two human arms. Sophisticated control strategies are implemented to enable using this system as haptic interface. Depending on the requirements of the task one of three different handles can connect the human hand to the robot. Besides the human-machine-interface, the haptic rendering software is improved such that collisions of two dynamical interaction objects are computed in real-time. The system has been proven to be well suited as haptic interface for multimodal virtual assembly simulations.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Human-Scale Bimanual Haptic Interface
AuthorsInstitution or Email of Authors
Sagardia, MikelUNSPECIFIED
Schaetzle, SimonUNSPECIFIED
Kremer, PhilippUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:haptic feedback
Event Title:5th International Conference on Enactive Interfaces
Event Location:Pisa (Italien)
Event Type:international Conference
Event Dates:2008-11-08
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:16 Oct 2008
Last Modified:12 Dec 2013 20:33

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