A Wearable 3-DOF Wire-driven Force Feedback Device
This paper addresses a new design and control of a wearable 3DOF force feedback device based on wire-driven parallel mechanisms. Unlike the existing wearable force feedback devices, the proposed wire-driven device is not supported by a rigid frame attached to the upper body. All electrical component...
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| creator | Yo-An Lim Yong Won Seo Jena Ryu |
| description | This paper addresses a new design and control of a wearable 3DOF force feedback device based on wire-driven parallel mechanisms. Unlike the existing wearable force feedback devices, the proposed wire-driven device is not supported by a rigid frame attached to the upper body. All electrical components of the device are located inside a wearable jacket and the device is powered by a few batteries. The force applied to the end-effector is produced by the tension of three wires connected to it and the tension of the wires are controlled by three motors. The kinematics and workspace analysis are discussed and a simple algorithm that makes a wire maintain minimum tension while without making it slack is proposed. Also end-effector position errors caused by the flexible positions of wire extracting points are discussed. Finally, some empirical results are presented. This device may be used in some applications which need force feedback functions, especially with mobile computer devices such as mobile phones, computers and PDAs |
| doi_str_mv | 10.1109/WHC.2007.14 |
| format | Conference Proceeding |
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Unlike the existing wearable force feedback devices, the proposed wire-driven device is not supported by a rigid frame attached to the upper body. All electrical components of the device are located inside a wearable jacket and the device is powered by a few batteries. The force applied to the end-effector is produced by the tension of three wires connected to it and the tension of the wires are controlled by three motors. The kinematics and workspace analysis are discussed and a simple algorithm that makes a wire maintain minimum tension while without making it slack is proposed. Also end-effector position errors caused by the flexible positions of wire extracting points are discussed. Finally, some empirical results are presented. This device may be used in some applications which need force feedback functions, especially with mobile computer devices such as mobile phones, computers and PDAs</description><subject>Algorithm design and analysis</subject><subject>Application software</subject><subject>Batteries</subject><subject>Computer errors</subject><subject>Force control</subject><subject>Force feedback</subject><subject>Kinematics</subject><subject>Mobile computing</subject><subject>Personal digital assistants</subject><subject>Wires</subject><isbn>0769527388</isbn><isbn>9780769527383</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotjstKAzEUQAMiqLUrl27yAxlvHncyWZapYwuFbpRZlpvkDkTrg4wU_HsLejZndzhC3GlotIbwMG76xgD4RrsLcQO-DWi87borsZznVzhjg_OmvRZmJUemSvHI0qr1fpBjqaxyLSf-kMNnTSwH5hwpvck1n0riW3E50XHm5b8X4mV4fO43ard_2varnSra47dCZ1xOIbcOIWVMBsgCRcQUwTH6jtrzQ54iRQPahmAni8Z5nlogzsEuxP1ftzDz4auWd6o_B6cdGnD2F9yRPxM</recordid><startdate>200703</startdate><enddate>200703</enddate><creator>Yo-An Lim</creator><creator>Yong Won Seo</creator><creator>Jena Ryu</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200703</creationdate><title>A Wearable 3-DOF Wire-driven Force Feedback Device</title><author>Yo-An Lim ; Yong Won Seo ; Jena Ryu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-5424dc9d6450cd5c20a30ab55cb04e578a6947dfbab2013993f35247ef60aed93</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Algorithm design and analysis</topic><topic>Application software</topic><topic>Batteries</topic><topic>Computer errors</topic><topic>Force control</topic><topic>Force feedback</topic><topic>Kinematics</topic><topic>Mobile computing</topic><topic>Personal digital assistants</topic><topic>Wires</topic><toplevel>online_resources</toplevel><creatorcontrib>Yo-An Lim</creatorcontrib><creatorcontrib>Yong Won Seo</creatorcontrib><creatorcontrib>Jena Ryu</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE/IET Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Yo-An Lim</au><au>Yong Won Seo</au><au>Jena Ryu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A Wearable 3-DOF Wire-driven Force Feedback Device</atitle><btitle>Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)</btitle><stitle>WHC</stitle><date>2007-03</date><risdate>2007</risdate><spage>379</spage><epage>384</epage><pages>379-384</pages><isbn>0769527388</isbn><isbn>9780769527383</isbn><abstract>This paper addresses a new design and control of a wearable 3DOF force feedback device based on wire-driven parallel mechanisms. Unlike the existing wearable force feedback devices, the proposed wire-driven device is not supported by a rigid frame attached to the upper body. All electrical components of the device are located inside a wearable jacket and the device is powered by a few batteries. The force applied to the end-effector is produced by the tension of three wires connected to it and the tension of the wires are controlled by three motors. The kinematics and workspace analysis are discussed and a simple algorithm that makes a wire maintain minimum tension while without making it slack is proposed. Also end-effector position errors caused by the flexible positions of wire extracting points are discussed. Finally, some empirical results are presented. This device may be used in some applications which need force feedback functions, especially with mobile computer devices such as mobile phones, computers and PDAs</abstract><pub>IEEE</pub><doi>10.1109/WHC.2007.14</doi><tpages>6</tpages></addata></record> |
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| identifier | ISBN: 0769527388 |
| ispartof | Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007, p.379-384 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Algorithm design and analysis Application software Batteries Computer errors Force control Force feedback Kinematics Mobile computing Personal digital assistants Wires |
| title | A Wearable 3-DOF Wire-driven Force Feedback Device |
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