Tracking Techniques in Haptic Systems

A method for object tracking is presented based on the similarity of waveforms recorded at the receiving elements of the array. A rectangular array of acoustic transducers is divided into four quadrants, on the basis that each quadrant contains a receiving element in its center. Each of the four recorded waveforms are compared against each of the remaining waveforms to identify either absolute similarity of the signal characteristics, which would denote absence of the object, or identifying a waveform being the least similar from the rest, hence pointing to a part of the array above which the object is located. Further, source localization algorithms are used for ill-posed scenarios where the distance between receivers is on the same order of magnitude of the dimensions of the tracked object and of the tracking distances.