Pen-based force display for precision manipulation in virtual environments

  title={Pen-based force display for precision manipulation in virtual environments},
  author={Pietro Buttolo and Blake Hannaford},
In this paper we describe the structure of a force display recently implemented for precision manipulation of scaled or virtual environments. We discuss the advantages of direct-drive parallel manipulators over geared serial manipulators for human-robot interaction application and introduce the serial-parallel structure we chose for our robot which interfaces with the human operator either at the fingertip or at the tip of a freely held penlike instrument. We derive the statics and the dynamics… CONTINUE READING
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