Design and Control Concepts of a Hyper Redundant Haptic Interface for Interaction with Virtual Environments
نویسندگان
چکیده
This paper discusses the design concept of a hyper-redundant haptic interface with 10 actuated degreesof-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented. Besides a construction possibility for virtual environments based on methods for visual and haptic rendering is presented.
منابع مشابه
Interaction with Virtual Deformable Objects for Surgery Simulation Using a Hyper Redundant Haptic Display
In this paper, the interaction of our novel hyper-redundant haptic display ViSHaRD10 with virtual deformable objects is investigated. ViSHaRD10 has serial kinematic structure and 10 degrees of freedom. The work mainly represents benchmark tests for this novel display. Additionally it aims to create easy-to-use virtual deformable objects. Two different deformable objects were developed. The defo...
متن کاملA Mobile Haptic Interface for Bimanual Manipulations in Extended Remote/virtual Environments
The concept of a new mobile haptic interface for unconstrained bimanual manipulation is presented. This device, which has been developed at the High-Fidelity Telepresence and Teleaction Research Centre, Munich, Germany, allows locomotion and haptic interaction at the same time. In contrast to most existing haptic interfaces, it is therefore not restricted to desktop applications but also enable...
متن کاملHaptic 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 ...
متن کاملStable haptic interaction with virtual environments
A haptic interface is a kinesthetic link between a human operator and a virtual environment. This paper addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual world, to include both the impedance and admittance models of haptic int...
متن کاملMultifinger Haptic Interfaces for Collaborative Enviroments
Haptic interfaces provide users with force information while they are interacting with virtual objects, allowing them to perform manipulation tasks and cooperate. Multi-finger haptic interfaces benefit from the use of several fingers, thereby a large number of degrees of freedom are processed, to improve interaction with virtual environments and increase the sense of immersion. This chapter int...
متن کامل