DocumentCode
2190773
Title
A five-bar-linkage force reflecting interface for a virtual reality system
Author
Ching, Mennas ; Wang, David W L
Author_Institution
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
3012
Abstract
In this paper, we present an inexpensive force feedback virtual reality system using a 3-DOF five-bar-linkage manipulator. The direct drive manipulator has a gravity balanced structure. An implicit force control strategy is used to determine the virtual force feedback. The effects of virtual wall and virtual free space controllers are studied. A graphics system is developed to provide the visual feedback to the user. Experimental results are presented to show the user interaction with a virtual wall and a virtual object
Keywords
feedback; force control; interactive devices; manipulators; virtual reality; 3-DOF five-bar-linkage manipulator; direct drive manipulator; five-bar-linkage force reflecting interface; force feedback virtual reality system; implicit force control strategy; virtual free space controllers; virtual wall controllers; visual feedback; Exoskeletons; Force control; Force feedback; Friction; Graphics; Gravity; Manipulator dynamics; Pulleys; Torque; Virtual reality;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606745
Filename
606745
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