next up previous contents
Next: Haptic Device Evaluation in Up: Haptic Device Previous: A Six/Seven DOF Haptic

A Two DOF Planar Haptic Interface: The Pantograph

V. Hayward, C. Ramstein (CiTi) We have designed a desktop haptic interface (a programmable force feed-back mouse so-to-speak). Several prototypes have been constructed to date. Prominent features of this device include a large workspace, low friction, low inertia, high rigidity and a minimal intrusion in the work area. Programmed mechanical models are used to kinesthetically describe the features of an interface. These models are analogous to iconic representations in conventional graphic interfaces. Users, acting and perceiving through the haptic channel, simultaneously perceive simulated objects through the visual and auditory channels, see Figure 17. [pantograph.eps].55 The Pantographhayward:figure35



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997