WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7150
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Book Part Citation - WoS: 1Citation - Scopus: 2Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device(Springer, 2019) Mobedi, Emir; Görgülü, İbrahimcan; Dede, Mehmet İsmet CanHaptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.Conference Object Citation - WoS: 3Citation - Scopus: 5Image Processing Based Stiffness Mapping of a Haptic Device(Springer, 2017) Taner, Barış; Dede, Mehmet İsmet CanThe widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device’s mechanism. In addition indirect measurement of the handle pose of a haptic device is also affected by the stiffness characteristic. In this study, image processing techniques are used in the experimental setup to develop a stiffness map of a haptic device. The experimentally developed stiffness map is presented and the results are discussed by addressing future works.