Manipulator Design for a Haptic System with Improved Performance

This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in performance evaluation of haptic devices. In this study, kinematic design optimization, static balancing, constructional design enhancement and actuation system design studies are presented.
The Scientific and Technological Research Council of Turkey (grant number 117M405)