{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T22:55:46Z","timestamp":1773442546286,"version":"3.50.1"},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4695,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.<\/jats:p><jats:p>As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.<\/jats:p>","DOI":"10.1017\/s0263574700019639","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:10:05Z","timestamp":1236690605000},"page":"321-327","source":"Crossref","is-referenced-by-count":93,"title":["Design and evaluation of a high-performance haptic interface"],"prefix":"10.1017","volume":"14","author":[{"given":"R.E.","family":"Ellis","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O.M.","family":"Ismaeil","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.G.","family":"Lipsett","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700019639_ref019","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1993_207_299_02"},{"key":"S0263574700019639_ref017","unstructured":"17. 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Hunter I.W. , Lafontaine S. , Nielsen P.M.F. , Hunter P.J. and Hollerbach J.M. , \u201cManipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1989) pp. 1553\u20131558."},{"key":"S0263574700019639_ref014","first-page":"55","article-title":"Design and evaluation of a high-performance prototype planar haptic interface","volume":"49","author":"Ellis","year":"1993","journal-title":"Advances in Robotics, Mechatronics, and Haptic Interfaces: ASME"},{"key":"S0263574700019639_ref013","first-page":"1","article-title":"Design and implementation of a force reflecting manipulandum for manual control research","volume":"42","author":"Adelstein","year":"1992","journal-title":"Advances in Robotics: 1992"},{"key":"S0263574700019639_ref012","unstructured":"12. Howe R.D. , \u201cA force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulation\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1992) pp. 1321\u20131326."},{"key":"S0263574700019639_ref010","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-10-02732.1985"},{"key":"S0263574700019639_ref008","first-page":"48","article-title":"Controlling remote manipulators through kinesthetic coupling","volume":"2","author":"Bejczy","year":"1983","journal-title":"Computers in Mechanical Engineering"},{"key":"S0263574700019639_ref007","unstructured":"7. Ouh-young M. , Beard D.V. and Brooks F.P. Jr , \u201cForce display performs better than visual display in a simple 6-d docking task\u201d Proceedings of the IEEE International Conference on Robotics and Automation, (1989) pp 1462\u20131466."},{"key":"S0263574700019639_ref006","unstructured":"6. Ouh-young M. , Pique M. , Hughes J. , Srinivasan N. and Brooks F.P. Jr , \u201cUsing a manipulator for force display in molecular docking\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1988) pp. 1824\u20131829."},{"key":"S0263574700019639_ref016","unstructured":"16. Millman P. , Stanley M. , Grafing P. and Colgate J.E. , \u201cA system for the implementation and kinesthetic display of virtual environments\u201d Proceedings of the SPIE Conference on Telemanipulator Technology (OE\/Technology '92) (1992) pp. 49\u201356."},{"key":"S0263574700019639_ref005","unstructured":"5. 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Howe R.D. and Kontarinis D. , \u201cTask performance with a dextrous teleoperated hand system\u201d Proceedings of the SPIE Conference on Telemanipulator Technology (OE\/Technology '92) (1992) pp. 199\u2013207."},{"key":"S0263574700019639_ref018","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700017367"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700019639","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,12]],"date-time":"2019-05-12T21:40:59Z","timestamp":1557697259000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700019639\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,5]]},"references-count":20,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1996,5]]}},"alternative-id":["S0263574700019639"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700019639","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1996,5]]}}}