HD² High Definition Haptic Device
Product Description
The HD² High-Definition Haptic Device is a high-fidelity haptic interface for advanced research in haptics as well as robotics. Combined with Quanser’s powerful control design environment, it provides a flexible development test bed for various emerging applications such as virtual medical simulators and teleoperation.
Overview
As a dexterous haptic device, HD² enables researchers to interact with virtual or remote environments using programmable force feedback. Compared to other commercially available haptic devices, HD² has a large workspace and very low intervening dynamics. This parallel mechanism is highly back-drivable with negligible friction. The heavy-duty capstan drive and high-performance motors reduce the perceived inertia while maintaining rigidity of the device structure.
Features
– Highly back-drivable joints and very low intervening dynamics
– Highly rigid structure with low friction and inertia
– Capstan drive mechanism
– Counterweights designed to eliminate the effects of gravity
– Auxiliary analog and digital inputs
– Reconfigurable handle position
– High-resolution optical encoders
– Built-in linear current amplifiers
– Easy connectivity to the data acquisition control board through SCSI cable
– Foot push pedal for auxiliary digital input
| Specifications | |
| Workspace | : 800 mm (X), 250 mm (Y), 350 mm (Z) : 180 degrees (roll), 180 degrees (pitch), continuous (yaw) |
| Tip inertia | : 300 g (X), 300 g (Y), 300 g (Z) : 2.29 g.m ²(roll), 2.29 g.m² (pitch), 0.79 g.m² (yaw) |
| Back drive frictions | : 0.353 N (X), 0.353 N (Y), 0.353 N (Z) : 61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw) |
| Maximum force/torque at 2 amps | : 19.71 N (X), 19.71 N (Y), 13.94 N (Z) : 1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw) |
| Continuous force/torque at 1.1 amps | : 10.84 N (X), 10.84 N (Y), 7.67 N (Z) : 0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw) |
| Position resolution | : 0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z) : 0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw) |
| Stiffness at 10 kHz | : 3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z) : 3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) |
| Dimensions (H x W x L) | : 0.53 m x 0.3 m x 0.5 m |
| Mass, including the amplifiers | : 22 kg |
