@inproceedings{cc802b7aa3724d49b21c0e569da53915,
title = "IFeel6-BH1500: A large-scale 6-DOF haptic device",
abstract = "It is a challenge to design a haptic device with a large workspace, high stiffness while maintain a good back drivability. In this paper, we present a large-scale haptic device iFeel6- BH1500, which is based on a cable-driven parallel mechanism and can achieve 6 dimensional force feedback by controlling the tension of eight cables. The components and working principle of the device is presented, followed by the analysis of the statics and kinematic models. Moreover, a method of friction compensation is proposed to decrease the tension error for achieving good back drivability. The measurement results show that the tension error of the cables is greatly reduced by using the friction compensation. Finally, two demos for the application of iFeel6- BH1500 are presented: virtual assembly of aircraft engine and virtual shooting for entertainment. The demos show the proposed device can provide large workspace, high stiffness and good back drivability.",
keywords = "6 dimensional force feedback, cable driven, large-scale, virtual reality",
author = "Zhongyuan Chen and Yuru Zhang and Dangxiao Wang and Chaobin Li and Yaojun Zhang",
year = "2012",
doi = "10.1109/VECIMS.2012.6273226",
language = "英语",
isbn = "9781457717574",
series = "Proceedings of IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems,VECIMS",
pages = "121--125",
booktitle = "VECIMS 2012 - 2012 IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems, Proceedings",
note = "2012 10th IEEE International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement Systems, VECIMS 2012 ; Conference date: 02-07-2012 Through 04-07-2012",
}