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Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 109-114
In Lee , Haptics and Virtual Reality Laboratory, POSTECH, Korea
Inwook Hwang , Haptics and Virtual Reality Laboratory, POSTECH, Korea
Kyung-Lyoung Han , Robotics and Automation Laboratory, POSTECH, Korea
Oh Kyu Choi , Robotics and Automation Laboratory, POSTECH, Korea
Seungmoon Choi , Haptics and Virtual Reality Laboratory, POSTECH, Korea
Jin S. Lee , Robotics and Automation Laboratory, POSTECH, Korea
ABSTRACT
A Mobile Haptic Interface (MHI), a force-feedback haptic interface with a mobile base, allows to render very large virtual objects in a safe and portable manner. In this paper, we present a novel MHI system, featured with: 1) extended horizontal workspace using a omni-directional mobile base, 2) extended vertical workspace using a linear lift, 3) high-accuracy estimation of the position of the haptic interface tool, 4) efficient motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 5) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user. As a consequence, our MHI system can provide high quality haptic rendering of large virtual objects.
CITATION
In Lee, Inwook Hwang, Kyung-Lyoung Han, Oh Kyu Choi, Seungmoon Choi, Jin S. Lee, "System improvements in Mobile Haptic Interface", WHC, 2009, World Haptics Conference, World Haptics Conference 2009, pp. 109-114, doi:10.1109/WHC.2009.4810834
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