Haptic feedback is critical for precise remote operation of robotic systems as well as human-machine interaction in the virtual environment. Existing six-degree-of-freedom six-legged parallel haptic devices offer limited workspace and low transparency.
A solution to the aforementioned limitations is to implement three-legged parallel architecture for workspace and reduce the mass/inertia of the legs for transparency. A novel three-legged haptic device, MEPaM, was developed accordingly, featuring all-grounded actuators and cable transmission. The analysis revealed that MEPaM has the most transparent interaction and the largest transparency bandwidth irrespective of environmental stiﬀness. Comparison based on experiments demonstrated that MEPaM has a force and load capacity superior to the serial haptic devices.
Personnel - Dr Sajeeva Abeywardena (past student)
Thesis Title - The Monash Epicyclic Parallel Manipulator: a novel six-degree-of-freedom impedance-type haptic device