Modeling and Experimental Studies of a Novel 6-DOF Haptic Device

  • Zhouming Tang
  • Shahram Payandeh
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)


This paper presents modeling and experimental studies of a new type of haptic device which combines the spherical parallel and the serial configurations. The paper presents an overview of our design and then outlines the procedure for mapping the force/moment vector acting on the stylus coordinate frame of the device to its joint torque. The paper then demonstrates the experimental studies of the new haptic device. Results demonstrates the performance of the kinematic mapping of the device and compares the computed haptic force feedback with the measured force/moment data at the stylus of the device. Interaction with a test-based virtual environment further demonstrates the actual performance of the device.


Haptic device spherical parallel/serial configuration kinematic modeling force modeling experimental studies haptic force feedback 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Zhouming Tang
    • 1
  • Shahram Payandeh
    • 1
  1. 1.Experimental Robotics LaboratorySimon Fraser UniversityBurnabyCanada

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