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Compensating Device Inertia for 6-DOF Haptic Rendering

Zhou, Jilin and Malric, Francois and Petriu, Emil and Georganas, Nicolas (2009) Compensating Device Inertia for 6-DOF Haptic Rendering. In: IEEE International Conference on Systems, Man, and Cybernetics 2009 (IEEE SMC 2009), 11-14 October 2009, San Antonio, Texas, USA.

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Abstract

In this paper, the importance of the user’s primary holding pivot point on the end effector of a haptic interface is discussed. Both theoretical analysis and experimental results demonstrate that this holding pivot point is critical for the correct perception of the haptic properties assigned to the virtual objects. We also study the physical inertia effects of the end effector on the non-uniform stiffness perception of simulated virtual objects. To the best of our knowledge, no such combined consideration of holding pivot point and device structure related inertia has so far been made for works in 6-DOF haptic rendering. We have instrumented the end effector of a haptic interface with a membrane potentiometer to measure the user’s primary holding pivot point in real-time. Accordingly, a preliminary adaptive feedback method is developed to render the appropriate forces/torques to compensate for the effects of the end effector’s inertia on the haptic stiffness perception.

Item Type: Conference or Workshop Papers (Paper)
Uncontrolled Keywords: 6-DOF haptic rendering, tip inertia, holding pivot point, collision point.
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > T Technology (General)
T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering, Science and Mathematics > School of Electronics and Computer Science
Depositing User: Systems Ad Systems Administrator
Date Deposited: 14 Feb 2012 14:24
Last Modified: 06 Apr 2018 15:46
URI: http://eprints.networks.imdea.org/id/eprint/61

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