Pen-based force display for precision manipulation in virtual environments

@inproceedings{Buttolo1995PenbasedFD,
  title={Pen-based force display for precision manipulation in virtual environments},
  author={Pietro Buttolo and Blake Hannaford},
  booktitle={VRAIS},
  year={1995}
}
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
Highly Cited
This paper has 81 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.
43 Citations
14 References
Similar Papers

Citations

Publications citing this paper.

81 Citations

0510'95'00'06'12'18
Citations per Year
Semantic Scholar estimates that this publication has 81 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 14 references

Experimental Characterization of Hard Disk Actuators for Mini Robotics,

  • P. Buttolo, D. Y. Hwang, B. Hannaford
  • Proc. SPIE Telemanipulator and Telepresence…
  • 1994

Design of a Four Degree of Freedom Force-Reflecting Manipulandum with a Specified Force/Torque Workspace,

  • P. A. Millman, J. E. Colgate
  • Proc. IEEE Robotics and Automation,
  • 1991
1 Excerpt

Kinematic and Optimization of a Parallel Robotic Wrist Mechanism with Redundancy: Thesis,“Computer Vision and Robotics Laboratory, McGill Research Center for Intelligent Machines, Jan

  • R. L. Kurtz
  • 1990

Technique in the Use of Surgical Tools,

  • Anderson, Romfh
  • Appleton-Century-Crofts,
  • 1990

Toward a Tele-Nanorobotic Manipulation System with Atomic Scale Force Feedback and Motion Resolution,

  • R. L. Hollis, S. Salcudean, D. W. Abraham
  • Proceedings IEEE Micro Electra Mechanical Systems…
  • 1990

Similar Papers

Loading similar papers…