Control and performance of the rotational-to-linear Cobotic transmission

Eric L. Faulring*, J. Edward Colgate, Michael A. Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


We examine the motion control bandwidth and stable impedance range of the Cobotic Hand Controller, a novel, six-degree-of-freedom, admittance controlled haptic display. A highly geared admittance architecture is often used to render high impedances with reasonable sized actuators for a haptic display. The Cobotic Hand Controller is perhaps the ultimate realization of an admittance display, since it is capable of obtaining an infinite gear ratio and can render infinite impedances (up to its own structural stiffness). The incorporation of continuously variable transmissions in the Cobotic Hand Controller provides for an extremely wide, stable z-width, since the transmission ratio can be adjusted quickly to vary the backdrivability. However, finite preloads in the transmissions limit the display's acceleration capabilities. We examine the control challenges and performance characteristics of the Cobotic Hand Controller for free motion and unilateral impact virtual environment scenarios.

Original languageEnglish (US)
Title of host publicationIEEE Virtual Reality, Haptics Symposium and Symposium on 3D User Interface, 2006
Number of pages1
StatePublished - 2006
EventIEEE Virtual Reality 2006 - Alexandria, VA, United States
Duration: Mar 25 2006Mar 29 2006

Publication series

NameProceedings - IEEE Virtual Reality


OtherIEEE Virtual Reality 2006
Country/TerritoryUnited States
CityAlexandria, VA


  • Cobots
  • Haptics
  • Rotational-to-linear transmission
  • Z-width

ASJC Scopus subject areas

  • General Engineering


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