Imperial College London
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Professor Brian Davies

Faculty of Engineering, Department of Mechanical Engineering

Emeritus Professor
 
 
 
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Contact

 

+44 (0)20 7594 7200b.davies

 
 
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Location

 

706City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Tenzer:2011:10.1109/WHC.2011.5945497,
author = {Tenzer, Y and Bowyer, S and Davies, BL and Rodriguez, Y Baena F},
doi = {10.1109/WHC.2011.5945497},
pages = {269--274},
title = {"Sticking" aspects of a haptic device with part-locking programmable brakes},
url = {http://dx.doi.org/10.1109/WHC.2011.5945497},
year = {2011}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper outlines work on the development of a novel programmable rotary brake which can restrict motion of a mechanism moving in one direction whilst allowing free motion in other directions. The design, implementation and performance of a fully functional prototype are described along the work on incorporating the prototype into a 3 Degrees-Of-Freedom (DOF) haptic device. The ability of the haptic device to constrain the motion of the end-effector to point-constraint was investigated and the experiments have shown that the haptic device can implement virtual constraints without the need for a force sensor. The experiments also show that when an advanced control scheme is used the virtual wall is not felt as "sticky". © 2011 IEEE.
AU  - Tenzer,Y
AU  - Bowyer,S
AU  - Davies,BL
AU  - Rodriguez,Y Baena F
DO  - 10.1109/WHC.2011.5945497
EP  - 274
PY  - 2011///
SP  - 269
TI  - "Sticking" aspects of a haptic device with part-locking programmable brakes
UR  - http://dx.doi.org/10.1109/WHC.2011.5945497
ER  -
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