HapticDrone: An encountered-type kinesthetic haptic interface with controllable force feedback: Example of stiffness and weight rendering
Publikation: Bidrag til bog/antologi/rapport › Konferencebidrag i proceedings › Forskning › fagfællebedømt
HapticDrone is our new approach to transform a drone into a force-reflecting haptic interface. While our earlier work proved the concept, this paper concretizes it by implementing accurate force control along with effective encountered-type stiffness and weight rendering for 1D interaction as a first step. To this end, generated force is identified with respect to drone's thrust command, allowing a precise control of force. Force control is combined with tracking of drone and hand, turning the HapticDrone into an ideal end-effector for the encountered-type haptics and making the system ready for more sophisticated physics simulation. Stiffness and weight of a virtual object is our first target of the simulation. Conventional stiffness and gravity simulation is merged into the encountered-type position control scheme, allowing a user to feel the softness and weight of an object. We further confirmed the feasibility by proving that the system fulfills the physical performance requirements commonly needed for an encountered-type haptic interface, i.e., force rendering bandwidth, accuracy, and tracking performance.
Originalsprog | Engelsk |
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Titel | IEEE Haptics Symposium, HAPTICS 2018 - Proceedings |
Redaktører | Yon Visell, Katherine J. Kuchenbecker, Gregory J. Gerling |
Antal sider | 6 |
Forlag | IEEE Computer Society Press |
Publikationsdato | 9 maj 2018 |
Sider | 334-339 |
ISBN (Elektronisk) | 9781538654248 |
DOI | |
Status | Udgivet - 9 maj 2018 |
Eksternt udgivet | Ja |
Begivenhed | 2018 IEEE Haptics Symposium, HAPTICS 2018 - San Francisco, USA Varighed: 25 mar. 2018 → 28 mar. 2018 |
Konference
Konference | 2018 IEEE Haptics Symposium, HAPTICS 2018 |
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Land | USA |
By | San Francisco |
Periode | 25/03/2018 → 28/03/2018 |
Sponsor | Boreas Technologies, Force Dimension, Intuitive, LynTouch, Oculus |
Navn | IEEE Haptics Symposium, HAPTICS |
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Vol/bind | 2018-March |
ISSN | 2324-7347 |
Bibliografisk note
Publisher Copyright:
© 2018 IEEE.
ID: 388953414