Haptic Hand Controller

Haptic Hand Controller

• Research Background

  • Haptic device which can capture user’s 6DOF motion to virtual environment and feedback force/torque information to user’s hand is needed.

• Researchers

  • Dong-Seok Ryu(Ph.D)

• Research Period

  • 1999. 09. ~ 2002. 02.

• Research Output

              <Photo of Haptic Hand Controller (HHC)>

• • Patent: 6 DOF haptic joystick system using gimbal mechanism, patent number: 0482000, Date of registration: 05.03.31.

  • Paper 1: Design of a 6-DOF Parallel Haptic Hand Controller Consisting of 5-Bar Linkages and Gimbal Mechanisms, Transactions of the KSME (A), Vol. 27, No. 1, pp. 18-25, 2003. 1.

• Research Objectives

  • Handle type haptic device which can be held in ones hand.

  • The haptic device should have back-drivability so that user can feel free when holding haptic device and move in free space.

  • It should provide realistic force information according the event happened in virtual environment.

• Composition of Haptic Han Controller (HHC)

  • Make 6DOF haptic device by connect two individual 3DOF haptic devices with lead screw.

  • A 3DOF haptic device is composed of a 5-bar link, 2 motor for 2DOF motion in a plan and 1 motor for 1DOF motion in the direction which perpendicular to the plan.  

  • A 3DOF haptic device can provide 3DOF distance input and 3DOF force output.

         <Structure of 3-DOF haptic device using 5-bar linkage and gimbal mechanism>

• Principle of Haptic Hand Controller (HHC)

  • When 2, 3-DOF haptic devices are combined together, 6-DOF distance input and 6-DOF force output are possible

  • If give force to haptic device in x, y, z direction, haptic device can feedback force in each direction  

  • If give torque to haptic device that makes input to two 3-DOF haptic devices are opposition in direction, haptic device can provide 3-DOF torque feedback to users.

        <Representation of 6-DOF motion by handle supported by 2 points>

- Last updated: 2012. 4. 24