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A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices

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EuCoMeS 2018 (EuCoMeS 2018)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 59))

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Abstract

A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic aspects of robots that can be applied in evaluating the unpowered system performance of kinesthetic haptic devices. The physical meanings of these metrics are discussed and the important factors that affect the unpowered system performance of a kinesthetic haptic device are revealed.

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Acknowledgements

This work is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405.

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Authors and Affiliations

  1. Izmir Institute of Technology, İzmir, Turkey

    İbrahimcan Görgülü, Gökhan Kiper & Mehmet Ismet Can Dede

Authors
  1. İbrahimcan Görgülü
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  2. Gökhan Kiper
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  3. Mehmet Ismet Can Dede
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Corresponding author

Correspondence to Mehmet Ismet Can Dede .

Editor information

Editors and Affiliations

  1. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany

    Burkhard Corves

  2. LS2N, Ecole Centrale de Nantes, Nantes, France

    Philippe Wenger

  3. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Germany

    Mathias Hüsing

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Görgülü, İ., Kiper, G., Dede, M.I.C. (2019). A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_15

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