Game Development Reference
In-Depth Information
Table 8.4 Features of the Haptic Master, PERCRO and LHIfAM interfaces.
Haptic Master
360 × 400 × 600mm
400 × 400 × 600mm
555 × 1300 × 1500mm
630 × 300 × 720
T Resolution
4 µ m
< 0.1mm
0.004 to 0.022mm
R Resolution
Peak force
> 20N
42.5 to 72N
Continuous force
4 to 7N
10 to 16N
< 20mN offset
Force resolution
2 to 4%
2 to 8N/mm
Apparent inertia
2,000 g
200 to 500 g
830 to 1,300 g
Figure 8.10 6-DOF Delta Haptic Device and Omega Haptic Device. (Illustration: Force Dimension,
Switzerland, with permission)
A wrist was then added in series on this structure. This solution was used in
the second version of the Delta Haptic Device with 6 degrees of freedom with force
feedback (Figure 8.10). An optimised version of this interface was recently marketed
under the name Omega Haptic Device (Salisbury et al., 2004). This robot is smaller
than the previous ones and it can be easily placed on a desktop. Its design has been
reworked to integrate all the mechanical components. In addition, the structure of
Delta has been simplified by replacing all the original ball joint linkages with concurrent
pivot linkages, as the Space Machines Laboratory of the University of Tohoku did
earlier (Tsumaki et al., 1998). The performance of these three versions is summarised
in table 8.5. Their stiffness is very high as compared to that of the serial structure
interfaces. On the other hand, the work space of the 6D version in orientation is not
very big.
In 2005, the Force Dimension technology was licensed to Novint Technologies
Inc. for the marketing of a more compact version for video games.
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