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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606745
