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Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

dc.contributor.authorRiabtsev, Mykhailo ORCID
dc.contributor.authorPetuya Arcocha, Víctor ORCID
dc.contributor.authorUrízar Arana, Mónica ORCID
dc.contributor.authorAltuzarra Maestre, Oscar ORCID
dc.date.accessioned2022-01-13T09:01:04Z
dc.date.available2022-01-13T09:01:04Z
dc.date.issued2021-12-30
dc.identifier.citationApplied Sciences 12(1) : (2022) // Article ID 339es_ES
dc.identifier.issn2076-3417,
dc.identifier.urihttp://hdl.handle.net/10810/54929
dc.description.abstractper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.es_ES
dc.description.sponsorshipThe authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Ciencia e Innovación (Project PID2020-116176GB-I00) financed by MCIN/AEI/10.13039/501100011033, and the support for the research group through Project IT949-16 provided by the Departamento de Educación, Política Lingüística y Cultura from the regional Basque Government.es_ES
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.relationinfo:eu-repo/grantAgreement/MICINN/PID2020-116176GB-I00es_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/
dc.subjecthaptic devicees_ES
dc.subjectreconfigurable jointes_ES
dc.subjectstatistical analysises_ES
dc.subjectforce feedbackes_ES
dc.subjectcontrol modees_ES
dc.titleDesign and Testing of Two Haptic Devices Based on Reconfigurable 2R Jointses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.date.updated2022-01-10T14:37:50Z
dc.rights.holder2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).es_ES
dc.relation.publisherversionhttps://www.mdpi.com/2076-3417/12/1/339/htmes_ES
dc.identifier.doi10.3390/app12010339
dc.departamentoesIngeniería mecánica
dc.departamentoeuIngeniaritza mekanikoa


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2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Except where otherwise noted, this item's license is described as 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).