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Haptic refers to feedback of a physical signal to a human user through touch. A haptic system realizes this feedback. In most of the applications today, the physical signal refers to force but not necessary. Virtual environment haptic systems refers to the situation where the force to be feedback from the objects in a virtual environment or computer. Virtual environment haptic robotic systems are...
In a companion paper published elsewhere [1], we proposed a design approach based on the general redundancy concept to improve the dynamic performance of a mechanism, especially shaking moment and driving torque, while fulfilling the required task. The approach was based on a partial redundancy function of the servomotor, so the approach is called partial redundancy servomotor (PRSM). In this paper,...
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