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Issue No. 04 - October-December (2011 vol. 4)
ISSN: 1939-1412
pp: 321-326
Dangxiao Wang , Beihang University, Beijing
Yuru Zhang , Beihang University, Beijing
Wanlin Zhou , Beihang University, Beijing
Hui Zhao , Beihang University, Beijing
Zhongyuan Chen , Beihang University, Beijing
Human resolution of collocation error between haptic and stereoscopic displays influences the design of visuo-haptic rendering algorithms, yet it is not well characterized. In the present study, we propose quantified metrics to measure the visuo-haptic collocation error and a prototype based on half-silvered mirror is established to validate the metrics. After defining collocation error in terms of the spatial correspondence between a tool and a surface, a mathematical model is derived that relates collocation error to the visual and haptic rendering modules within the computational pipeline. A calibration method consisting of Perspective Calibration (PC) and Model Calibration (MC) is then proposed to compensate for manufacturing and assembly tolerances. Based on measurement values by a precise measurement apparatus, i.e., the FARO Arm, parameters for the PC and MC were determined. System performance is evaluated by measuring the collocation error between a real handle and its visual avatar. The average collocation error was 1.8 mm within the XwYwOw plane, and the error never exceeded 7 mm within an 80 mm × 80 mm × 80 mm workspace.
Haptic interfaces, Calibration, Data visualization, Transforms, Rendering (computer graphics)

D. Wang, Y. Zhang, W. Zhou, H. Zhao and Z. Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," in IEEE Transactions on Haptics, vol. 4, no. 4, pp. 321-326, 2011.
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