Virtuose 6D TAO  

The Virtuose 6D TAO is a 6 degrees-of-freedom haptic device, specifically designed for Tele-Operation application. Thanks to its large workspace, high forces, and input interface, it enables a scale one interaction with large slave arm.

Its main applications are:

- Master arm

- large interaction

- tele-operation

- Human gesture

The VIRTUOSE 6D TAO is composed of two main articulated segments fixed on a rotating base. The second segment ends with an articulated wrist, which can rotate around three concurrent axes. As a consequence, the haptic interface is a 6 degrees-of-freedom device, with force-feedback in all directions. The workspace of the VIRTUOSE 6D TAO is large enough to include a cube 36 cm in size. The resolution in position is 0.02 mm.

The user takes hold of the haptic device using a gripper with a clamp, on the gripper we propose calibration position, offset function (and vitesse mode), dead man, froze the clamp, rotation for the tool of the slave. The user has also access to a button box with fourth buttons. The state of the other buttons can be accessed using the VIRTUOSE API.


Technical Characteristics:

Force-feedback on all 6 degrees-of-freedom (3 translations and 3 rotations)

Operational workspace corresponding to the movements of a human arm
Length of the segments constituting the arm: 400 mm

Maximum force of 42N (12 N continuous), i.e. high enough to simulate the handling of heavy objects

Maximum rotation torque of 5.0 Nm (1.4Nm continuous), i.e. high enough for two-handed handling of large virtual objects

Exact static compensation of the device’s own weight

Gripping TREH (TeleRobotic Ergonomic Handle), design for Master & Slave operation, integrate a dead man

Button box : 4 buttons, switch to froze the gripper

Ethercat or Ethernet UDP interface

Reduced weight, transportable without specific equipment

Development kit (API) available for the major operating systems

Demonstrated compatibility with the major software applications on the market today, using dedicated plug-ins: TAO 2000, ISPI, Vortex™, Havok™, ODE, 3DVIA Virtools™, Catia™ V5, Delmia™ V5, Solidworks, ESI/ICIDO, H3D, OpenMask, TechViz XL, Classic Jack, etc...



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