A Critical Review of Unpowered Performance Metrics of Impedance-Type Haptic Devices
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.
KeywordsHaptics Performance metrics Stiffness Kinematics Dynamics
This work is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405.
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