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Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform

Research output: Contribution to journalArticle

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Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform. / Lambert, Patrice; Da Cruz, Lyndon; Bergeles, Christos.

In: IEEE Robotics and Automation Letters, Vol. 5, No. 4, 9145710, 10.2020, p. 5764-5771.

Research output: Contribution to journalArticle

Harvard

Lambert, P, Da Cruz, L & Bergeles, C 2020, 'Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform', IEEE Robotics and Automation Letters, vol. 5, no. 4, 9145710, pp. 5764-5771. https://doi.org/10.1109/LRA.2020.3010748

APA

Lambert, P., Da Cruz, L., & Bergeles, C. (2020). Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform. IEEE Robotics and Automation Letters, 5(4), 5764-5771. [9145710]. https://doi.org/10.1109/LRA.2020.3010748

Vancouver

Lambert P, Da Cruz L, Bergeles C. Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform. IEEE Robotics and Automation Letters. 2020 Oct;5(4):5764-5771. 9145710. https://doi.org/10.1109/LRA.2020.3010748

Author

Lambert, Patrice ; Da Cruz, Lyndon ; Bergeles, Christos. / Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform. In: IEEE Robotics and Automation Letters. 2020 ; Vol. 5, No. 4. pp. 5764-5771.

Bibtex Download

@article{0c6b83e6ad0f40eb9e01adc2937faa35,
title = "Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform",
abstract = "This letter introduces a novel 7 Degree Of Freedom (DOF) cable-driven haptic device based on the concept of a configurable cable platform. In the proposed concept, a 1-DOF pinch grasping capability is provided via a network of ten passive cables kept in tension. The coordinated action on the cable platform of eight active cables driven from the base, fully controls the position, orientation, and grasping configuration of the device. This constitutes the first 7-DOF cable-driven robot that is made of a network of cables instead of a pure parallel architecture. Original static and kinematic models were developed to address the particularities of the proposed architecture. They are detailed in this manuscript and used to define the workspace and the control algorithm of the design. A working prototype illustrating an implementation of the theory is presented. ",
keywords = "cable robots, haptic interfaces, Parallel robots, robotic grasping",
author = "Patrice Lambert and {Da Cruz}, Lyndon and Christos Bergeles",
year = "2020",
month = oct,
doi = "10.1109/LRA.2020.3010748",
language = "English",
volume = "5",
pages = "5764--5771",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - Design, Modeling, and Implementation of a 7-DOF Cable-Driven Haptic Device with a Configurable Cable Platform

AU - Lambert, Patrice

AU - Da Cruz, Lyndon

AU - Bergeles, Christos

PY - 2020/10

Y1 - 2020/10

N2 - This letter introduces a novel 7 Degree Of Freedom (DOF) cable-driven haptic device based on the concept of a configurable cable platform. In the proposed concept, a 1-DOF pinch grasping capability is provided via a network of ten passive cables kept in tension. The coordinated action on the cable platform of eight active cables driven from the base, fully controls the position, orientation, and grasping configuration of the device. This constitutes the first 7-DOF cable-driven robot that is made of a network of cables instead of a pure parallel architecture. Original static and kinematic models were developed to address the particularities of the proposed architecture. They are detailed in this manuscript and used to define the workspace and the control algorithm of the design. A working prototype illustrating an implementation of the theory is presented.

AB - This letter introduces a novel 7 Degree Of Freedom (DOF) cable-driven haptic device based on the concept of a configurable cable platform. In the proposed concept, a 1-DOF pinch grasping capability is provided via a network of ten passive cables kept in tension. The coordinated action on the cable platform of eight active cables driven from the base, fully controls the position, orientation, and grasping configuration of the device. This constitutes the first 7-DOF cable-driven robot that is made of a network of cables instead of a pure parallel architecture. Original static and kinematic models were developed to address the particularities of the proposed architecture. They are detailed in this manuscript and used to define the workspace and the control algorithm of the design. A working prototype illustrating an implementation of the theory is presented.

KW - cable robots

KW - haptic interfaces

KW - Parallel robots

KW - robotic grasping

UR - http://www.scopus.com/inward/record.url?scp=85089914947&partnerID=8YFLogxK

U2 - 10.1109/LRA.2020.3010748

DO - 10.1109/LRA.2020.3010748

M3 - Article

AN - SCOPUS:85089914947

VL - 5

SP - 5764

EP - 5771

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 4

M1 - 9145710

ER -

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