Haptic Interface Control - Design Issues and Experiments with a Planar Device

Design Issues and Experiments with a Planar Device

This paper describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecure is shown to be an effective means of coordinating the control of a new 3-DOF haptic interface with the simulation of a virtual dynamic environment.

Simulation of the Admittance Control Based Haptic Interface Device

A planar parallel 3-DOF cable-driven haptic interface

In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration...

Haptic Interaction within a Planar Environment

A haptic simulation environment to simulate planar threedegree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of ...

Design and Control of a Force-reflecting Haptic Interface for Teleoperational Grasping

In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipul...