{"id":527,"date":"2013-04-24T02:11:50","date_gmt":"2013-04-24T09:11:50","guid":{"rendered":"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=527"},"modified":"2013-04-30T21:36:53","modified_gmt":"2013-05-01T04:36:53","slug":"a-friction-differential-and-cable-transmission-design-for-a-3-dof-haptic-device-with-spherical-kinematics","status":"publish","type":"page","link":"https:\/\/sr.stanford.edu\/?page_id=527","title":{"rendered":"A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics"},"content":{"rendered":"<table cellspacing=\"0\">\n<tbody>\n<tr>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/a613f5eab344f7cd309f2b08105b73a9.jpg\" border=\"0\" \/><\/td>\n<td><img loading=\"lazy\" alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/e69e94458d17626bfdd7d756b155d99a.jpg\" width=\"400\" height=\"173\" border=\"0\" \/><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>Project Description<\/h2>\n<p>We present a new mechanical design for a 3-DOF\u00a0haptic device with spherical kinematics (pitch, yaw, and prismatic\u00a0radial). All motors are grounded in the base to decrease\u00a0inertia and increase compactness near the user\u2019s hand. An\u00a0aluminum-aluminum friction differential allows for actuation\u00a0of pitch and yaw with mechanical robustness while allowing\u00a0a cable transmission to route through its center. This novel\u00a0cabling system provides simple, compact, and high-performance\u00a0actuation of the radial DOF independent of motions in pitch\u00a0and yaw. We show that the device\u2019s capabilities are suitable for\u00a0general haptic rendering, as well as specialized applications of\u00a0spherical kinematics such as laparoscopic surgery simulation.<\/p>\n<p>This research started as a course project for CS277: Experimental Haptics, when Reuben Brewer designed, fabricated, and programmed the device in three months as the course&#8217;s capstone project. It worked surprisingly well, and it was decided to perform actual research with the device. Adam Leeper and Reuben Brewer performed a rigorous mathematical and experimental analysis of the device&#8217;s properties and how they compare to those of a commercially available haptic device, namely the Sensable Phantom Omni.<\/p>\n<h2>Haptic Device YouTube Video<\/h2>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"http:\/\/www.youtube.com\/embed\/IE0VyRl8Q8Q?rel=0&amp;wmode=opaque\" height=\"355\" width=\"425\" allowfullscreen=\"true\" frameborder=\"0\"><\/iframe><\/p>\n<p><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/85dddd2a061673fbca7d822215ce7efc.jpg\" border=\"0\" \/><\/p>\n<table cellspacing=\"0\">\n<tbody>\n<tr>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/a613f5eab344f7cd309f2b08105b73a9.jpg\" border=\"0\" \/><\/td>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/f72d986554d56256620a55da0ad930e7.jpg\" border=\"0\" \/><\/td>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/78968c4e412941d74531cafdd811dd02.jpg\" border=\"0\" \/><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<table cellspacing=\"0\">\n<tbody>\n<tr>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/0c88d2ef2ae619be6d57327536b13923.jpg\" border=\"0\" \/><\/td>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/e7095baca15c26546a958386d4af2e50.jpg\" border=\"0\" \/><\/td>\n<td><img alt=\"\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/images\/dd891c927977105cbc0287f34e92252b.jpg\" border=\"0\" \/><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>Related Publications<\/h2>\n<p>R. D. Brewer, A. E. Leeper, and J. K. Salisbury, \u201cA Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics.\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 2570-2577.<\/p>\n<p><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/04\/brewer_IROS_spherical_haptic_device.pdf\">PDF of\u00a0Full IROS Paper<\/a><\/p>\n<p><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/04\/brewer_leeper_salisbury_IROS_2011.ppt\">PowerPoint Presentation from IROS<\/a><\/p>\n<p><a href=\"https:\/\/docs.google.com\/presentation\/d\/11nkwgjA9270ugkaGPJiGvFjDF_cT_zVFTLWKbbAA4ro\/edit\" target=\"_blank\">GoogleDoc Presentation from IROS<\/a><\/p>\n<p><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/04\/brewer_leeper_salisbury_IROS_2011.ppt\">PDF of IROS Presentation<\/a><\/p>\n<h2>Project Staff<\/h2>\n<ul>\n<li><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=163\" title=\"Reuben Brewer\">Reuben Brewer<\/a><\/li>\n<li><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=659\" title=\"Adam Leeper\">Adam Leeper<\/a><\/li>\n<\/ul>\n<h2>Status<\/h2>\n<p>Inactive.<\/p>\n<h2>Funding Sources<\/h2>\n<p>None.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Project Description We present a new mechanical design for a 3-DOF\u00a0haptic device with spherical kinematics (pitch, yaw, and prismatic\u00a0radial). All motors are grounded in the base to decrease\u00a0inertia and increase compactness near the user\u2019s hand. An\u00a0aluminum-aluminum friction differential allows for actuation\u00a0of pitch and yaw with mechanical robustness while allowing\u00a0a cable transmission to route through its &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"https:\/\/sr.stanford.edu\/?page_id=527\"> <span class=\"screen-reader-text\">A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"parent":525,"menu_order":0,"comment_status":"open","ping_status":"open","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/527"}],"collection":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=527"}],"version-history":[{"count":6,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/527\/revisions"}],"predecessor-version":[{"id":1393,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/527\/revisions\/1393"}],"up":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/525"}],"wp:attachment":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=527"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}