Kinematic Design

Part of the Springer Series on Touch and Haptic Systems book series (SSTHS)


The kinematic design of haptic interfaces is a crucial step especially when designing interfaces with mainly kinaesthetic feedback (see Sect.12.2). This is often the case in the context of robotic applications. In these devices, a mechanical mechanism is used to link the user and the feedback generating actuators. Furthermore, the user’s input commands are often given by moving a mechanical mechanism, e.g., a joystick.Accordingly, the kinematic design is a crucial aspect for a device with ergonomic design and good haptic transmission. This chapter gives an introduction to the classes of mechanisms and how they are designed.


Jacobian Matrix Parallel Mechanism Kinematic Chain Haptic Device Haptic Interface 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  1. 1.Institute of Electromechanical DesignTechnische Universität DarmstadtDarmstadtGermany

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