Go to the NASA Homepage
Search >
Click to Search
Human Systems Integration Division homepageHuman Systems Integration Division homepage Organization pageOrganization page Technical Areas pageTechnical Areas page Outreach and Publications pageOutreach and Publications page Contact pageContact page
Human Systems Integration Division Homepage
Outreach & Publications Sidebar Header
Go to the Outreach & Publications pageGo to the Outreach & Publications page
Go to Awards pageGo to Awards page
Go to News pageGo to News page
Go to Factsheets pageGo to Factsheets page
Go to Multimedia pageGo to Multimedia page
Go to Human Factors 101 pageGo to Human Factors 101 page
What is Human System Integration? Website
Publication Header
Kinematic design of a three degree of freedom parallel hand controller mechanism  (1996)
Abstract Header
This paper presents the kinematic design of a 10 link “inparallel” mechanism for use in a three degree of freedom forcereflecting haptic interface. The mechanism linkage couples three coplanar rotary electric motor shafts to the endpoint grasped by the human operator. The linkage permits all motor housings to be supported on a common base, thereby reducing the inertia and weight that the interface actuators and human operator must support and move. Furthermore, because only rigid links and rotary ball bearings are used, the linkage avoids the compliance, friction, and/or backlash associated with other types of transmission elements. The linkage workspace is bounded by the singular sphere of maximum reach and separated into two hemispheres by singularities in the plane of the motor shafts.
Private Investigators Header
Authors Header
Groups Header
Keywords Header
haptic, human operator, inparallel, interface, kinematic, three degree
References Header
Fifth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Proceedings, Dynamic Systems and Control, DSC-Vol. 58, American Society of Mechanical Engineers, New York, 1996, pp. 539-546
Download Header
Go to the First Gov Homepage
Go to the NASA - National Aeronautics and Space Administration Homepage
Curator: Phil So
NASA Official: Jessica Nowinski
Last Updated: August 15, 2019