6 accepted papers
Virtual mass simulation is one of the recent topics in the field of haptic devices (HDs), which can alter the apparent mass of the HD. Simulating negative values of virtual mass leads to a decrease in the apparent effective mass, improving transparency but weakening stability. Positive virtual mass …
Haptic devices (HDs) play a vital role in simulating the sense of touch in various virtual environments (VEs). Ensuring stable interaction between the HD and the VE is critical, particularly when simulating stiff virtual objects. One approach to enhancing stability is increasing the sampling rate; h…
Haptic devices (HDs) play a vital role in simulating the sense of touch in various virtual environments (VEs). Ensuring stable interaction between the HD and the VE is critical, particularly when simulating stiff virtual objects. One approach to enhancing stability is increasing the sampling rate; h
Research on human-friendly robots focuses on safety through software and hardware. Hardware-based safety offers a significant advantage over software-based safety if an accurate hardware model is integrated into the solution. Design of elastic and off-joint actuation has established safety by hardwa
In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming
Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each compone