@inproceedings{576ed25c0eda4e14b599ee3e6bfb7fcd,
title = "DentalTouch: A haptic display with high stiffness and low inertia",
abstract = "Designing haptic devices with both high stiffness and low inertia is challenging. In this paper, we propose a solution to overcome the difficulty. We present a new haptic device named DentalTouch for dental simulation. Combining parallel and serial mechanisms, the DentalTouch can render 3-dimentional forces and 6 degree-of-freedom (DOF) motions. We describe how to achieve high stiffness and low inertia in the DentalTouch by using co-actuation method recently developed by our group. We evaluate the stiffness and inertia performance of a DentalTouch prototype through analytical and experimental approaches. The results show that the combined structural and motor control stiffness of the prototype is within the range of 21-69 N/mm and the inertia ranges from 113 to 163 g in task workspace, which demonstrates that the DentalTouch has a potential to provide a high stiffness and low inertia.",
author = "Hongdong Zhang and Yuru Zhang and Dangxiao Wang and Lei Lu",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 7th IEEE World Haptics Conference, WHC 2017 ; Conference date: 06-06-2017 Through 09-06-2017",
year = "2017",
month = jul,
day = "21",
doi = "10.1109/WHC.2017.7989933",
language = "英语",
series = "2017 IEEE World Haptics Conference, WHC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "388--393",
booktitle = "2017 IEEE World Haptics Conference, WHC 2017",
address = "美国",
}