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A critical review of unpowered performance metrics of impedance-type haptic devices

Authors
  • Görgülü, İbrahimcan
  • Kiper, Gökhan
  • Dede, Mehmet İsmet Can
Publication Date
Jan 01, 2019
Source
[email protected]
Keywords
Language
English
License
Green
External links

Abstract

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. / TUBITAK

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