Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device

Author(s):  
Margot Vulliez ◽  
Said Zeghloul ◽  
Oussama Khatib
2014 ◽  
Vol 620 ◽  
pp. 18-23 ◽  
Author(s):  
Xu Long Zhang ◽  
Yong Liu ◽  
Xu Xin Wu ◽  
Wu Sheng Chou

In this paper, a new redundant degree-of-freedom wearable haptic device is developed and presented, which combines the advantages of the arm exoskeleton and the desktop haptic device. The haptic device has capabilities of large working space and high stiffness, the design of the wearable can reduce operators’ fatigue and increase the comfort of the operation. This paper also includes the analysis of workspace based on the kinematic analysis. Dynamics model of the haptic device has been established to get the torques of the driven motors of every joint. Lately, the virtual prototype model was established in ADAMS to get the simulations results, which lays the foundation for further force-feedback experiments.


Author(s):  
L. -M. Peng ◽  
M. J. Whelan

In recent years there has been a trend in the structure determination of reconstructed surfaces to use high energy electron diffraction techniques, and to employ a kinematic approximation in analyzing the intensities of surface superlattice reflections. Experimentally this is motivated by the great success of the determination of the dimer adatom stacking fault (DAS) structure of the Si(111) 7 × 7 reconstructed surface.While in the case of transmission electron diffraction (TED) the validity of the kinematic approximation has been examined by using multislice calculations for Si and certain incident beam directions, far less has been done in the reflection high energy electron diffraction (RHEED) case. In this paper we aim to provide a thorough Bloch wave analysis of the various diffraction processes involved, and to set criteria on the validity for the kinematic analysis of the intensities of the surface superlattice reflections.The validity of the kinematic analysis, being common to both the TED and RHEED case, relies primarily on two underlying observations, namely (l)the surface superlattice scattering in the selvedge is kinematically dominating, and (2)the superlattice diffracted beams are uncoupled from the fundamental diffracted beams within the bulk.


2008 ◽  
Author(s):  
Connie E. Myerson ◽  
Eniko K. Toth ◽  
Joseph M. Wasserman ◽  
W.D. Dietrich ◽  
Edward J. Green

Sign in / Sign up

Export Citation Format

Share Document