Game Development Reference
In-Depth Information
Table 8.6 Features of the Tsukuba Pen, 5DOF HapticWand andVirtuose 6D Medical interfaces.
Tsukuba Pen
V6D Medical
Maximum travel
440 × 440 × 440mm
480 × 250 × 460mm
420 × 555 × 680mm
170 × 130
150 × 160 × 180
Useful travel
200 × 200 × 200mm
150 × 160 × 180
Peak force
7 to 9N
> 15N
0.75 to 0.81N · m
0.5 to 1N · m
Continuous force
2.1 to 3N
> 5N
0.23 to 0.25N · m
0.16 to 0.33N · m
Control stiffness
> 5000N/m
Global stiffness
1000 to 2000N/m
Figure 8.14 SPIDAR 8. (Illustration:Tokyo Institute of Technology, with permission) Fixed interfaces with tight ropes
Interfaces with tight ropes are a special case of force feedback interfaces with parallel
structure. Here, the branches of the robot are replaced with cables. The structure of the
robot is thus very simple and light. The most common interface of this type is SPIDAR,
developed in the Tokyo Institute of Technology. There are different versions: SPIDAR-I
and SPIDAR-II (Ishii & Sato, 1994; Youngblut et al., 1996), Both Hands SPIDAR,
Networked SPIDAR, Big SPIDAR (Buoguila et al., 1997), SPIDAR-G (Kim et al.,
2002), SPIDAR-8 (Walairacht et al., 1999) (Figure 8.14).
SPIDAR I consists of 4 motor units placed at the peak of a pyramid connected to
the robot gripper by 4 tight ropes that are wound around pulleys led by motors. The
other versions use the same principle. The main advantage of this technology is the
option to be able to very easily adapt the interface to a given set of specifications.
The work space can be increased by attaching the motor units further away and
by extending the cables, while the force capacity can be adjusted by modifying the
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