Control of a mobile haptic interface

The hardware and control concept of a mobile haptic interface is presented. It is intended to provide spatially unrestricted, dual-handed haptic interaction. The device is composed of two haptic displays mounted on an omnidirectional mobile base which is controlled in such a way that the haptic disp...

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Bibliographische Detailangaben
Hauptverfasser: Unterhinninghofen, U., Schauss, T., Buss, M.
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:The hardware and control concept of a mobile haptic interface is presented. It is intended to provide spatially unrestricted, dual-handed haptic interaction. The device is composed of two haptic displays mounted on an omnidirectional mobile base which is controlled in such a way that the haptic displays are not driven to their workspace limits. A simple algorithm, based on end-effector positions only, and a more sophisticated approach, incorporating also the body position of the operator, are presented and compared. Experimental results show that the latter algorithm performs better in most use cases.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2008.4543514