We present a system for rendering planar rigid-body motion by means of a redundant parallel mechanism. The device design, the control architecture and the passive virtual environment simulation are presented. The system is used to compare various virtual walls and friction models proposed for haptic applications. In addition, the reset-integrator dry friction model proposed by Haessig and Fried...

This paper describes a telemicromanipulation system to assist persons with different skills to perform dexterous micromanipulation tasks. This research is expected to enhance the teleoperation performance through the use of haptic and pseudo-haptic guidance. For this purpose, we proposed a humanmachine interface developed on virtualized reality representation of the micro-environment. Afterward...

This paper presents the final design of a reduced-scale locomotion interface for which the mechanical transmission is achieved with 18 cables. Two six degree-of-freedom parallel mechanisms are used as haptic interfaces for the feet. A one-degree-of-freedom counterweight is used to maintain the equilibrium of the user. Software integration for rendering the locomotion, visual effects and haptic ...

This paper presents the development of a PC-based 3D human computer interface for virtual assembly applications. This system is capable of importing complex CAD (Computer Aided Design) models, rendering them in stereo, and implementing haptic force feedback for realistic part interaction in virtual environments. Such an application will facilitate wider acceptance of the use of a VR interface f...

We propose a new haptic interface for handheld devices using the “estimation of box contents” metaphor. This metaphor refers to a situation in which a person shakes a box to determine what is contained in it. In this interface, a handheld device is compared to a box, and the information contained in the device is compared to an object contained in the box. The user can determine if information ...

Just as computer graphics is concerned with synthesizing and rendering visual images, computer haptics is the art and science of developing software algorithms that synthesize computer generated forces to be displayed to the user for perception and manipulation of virtual objects through touch. The goal of haptic rendering is to enable a user to touch, feel, and manipulate virtual objects throu...

This paper presents a two degrees–of–freedom haptic interface that uses force control to reproduce the behavior of a customary lever and gearshift in automotive applications. The haptic simulation of the gear selector lever has been done by the appropriated design of virtual artificial potential functions. These functions contain parameters that have intuitive physical meaning and that can be e...

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 ...

Haptic devices are becoming more widely used as hardware becomes available and the cost of both low and high fidelity haptic devices decreases. One of the application areas of haptics is Haptic Data Visualization (HDV). HDV provides functionality by which users can feel and touch data. Blind and partially sighted users can benefit from HDV, as it helps them manipulate and understand information...