Development of a Single Degree of Freedom Haptic System Handle
Sense of touch is one of the most important senses for human. Human feels and interacts with the environment through their sense of touch. This thesis describes the design and development of a single degree of freedom handle with force feedback. The interaction between the handle and the user is...
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| Format: | Thesis |
| Language: | English |
| Published: |
2004
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| Online Access: | http://psasir.upm.edu.my/id/eprint/5922/1/FK_2004_39%20IR.pdf |
| _version_ | 1825943953619288064 |
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| author | Kwa, Chin Kok |
| author_facet | Kwa, Chin Kok |
| author_sort | Kwa, Chin Kok |
| collection | UPM |
| description | Sense of touch is one of the most important senses for human. Human feels
and interacts with the environment through their sense of touch. This thesis
describes the design and development of a single degree of freedom handle
with force feedback. The interaction between the handle and the user is
achieved through the usage of a DC servomotor. The servomotor provides
the resistive force to the manipulator. To control the servomotor, electronics
circuit is constructed. The electronics circuit controls the force provided by
the motor by using the Pulse Width Modulation technique. A computer is
used to provide graphical interface to the user. The computer is also used to
control the force provided by the motor by sending data through its parallel
port to the controlling electronics circuit. At the end of the project, a single
degree of freedom handle has been constructed and its characteristics have
been tested. From the tests conducted, the system built managed to provide
resistive torque up to 1.6Nm |
| first_indexed | 2024-03-06T07:08:21Z |
| format | Thesis |
| id | upm.eprints-5922 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T07:08:21Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | upm.eprints-59222022-02-07T07:32:00Z http://psasir.upm.edu.my/id/eprint/5922/ Development of a Single Degree of Freedom Haptic System Handle Kwa, Chin Kok Sense of touch is one of the most important senses for human. Human feels and interacts with the environment through their sense of touch. This thesis describes the design and development of a single degree of freedom handle with force feedback. The interaction between the handle and the user is achieved through the usage of a DC servomotor. The servomotor provides the resistive force to the manipulator. To control the servomotor, electronics circuit is constructed. The electronics circuit controls the force provided by the motor by using the Pulse Width Modulation technique. A computer is used to provide graphical interface to the user. The computer is also used to control the force provided by the motor by sending data through its parallel port to the controlling electronics circuit. At the end of the project, a single degree of freedom handle has been constructed and its characteristics have been tested. From the tests conducted, the system built managed to provide resistive torque up to 1.6Nm 2004-01 Thesis NonPeerReviewed text en http://psasir.upm.edu.my/id/eprint/5922/1/FK_2004_39%20IR.pdf Kwa, Chin Kok (2004) Development of a Single Degree of Freedom Haptic System Handle. Masters thesis, Universiti Putra Malaysia. Handles - Case studies |
| spellingShingle | Handles - Case studies Kwa, Chin Kok Development of a Single Degree of Freedom Haptic System Handle |
| title | Development of a Single Degree of Freedom Haptic System Handle |
| title_full | Development of a Single Degree of Freedom Haptic System Handle |
| title_fullStr | Development of a Single Degree of Freedom Haptic System Handle |
| title_full_unstemmed | Development of a Single Degree of Freedom Haptic System Handle |
| title_short | Development of a Single Degree of Freedom Haptic System Handle |
| title_sort | development of a single degree of freedom haptic system handle |
| topic | Handles - Case studies |
| url | http://psasir.upm.edu.my/id/eprint/5922/1/FK_2004_39%20IR.pdf |
| work_keys_str_mv | AT kwachinkok developmentofasingledegreeoffreedomhapticsystemhandle |