Optimal Kinematic Design of a Haptic Pen

  title={Optimal Kinematic Design of a Haptic Pen},
  author={Leo J. Stocco and Septimiu E. Salcudean and Farrokh Sassani},
This paper investigates the performance demands of a haptic interface and shows how this information can be used to design a suitable mechanism. A design procedure, previously developed by the authors, that consists of a global isotropy index and a discrete optimization algorithm, allows one to compare a range of geometric variables, actuator scale factors… CONTINUE READING