Design and Control of a Multiple-Degree-of-Freedom Haptic Interface

摘要

Abstract The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into a wide spectrum of tasks that directly link human and machine. Haptic interfaces are robots that are physically coupled to humans and produce desired tactile stimulation. These devices are integrated into active joystick control for aircraft, bilateral teleoperation, robotic assisted surgery and human rehabilitation and training. This paper discusses the design and control of a new haptic interface at the Georgia Institute of Technology. HURBIRT (Human Robot Bilateral Research Tool) is a two degree of freedom planar manipulator used to investigate control issue in teleoperation and human-machine interaction.