DocumentCode :
2379528
Title :
The AirWand: Design and characterization of a large-workspace haptic device
Author :
Romano, Joseph M. ; Kuchenbecker, Katherine J.
Author_Institution :
Haptics Group, GRASP Laboratory, University of Pennsylvania, USA
fYear :
2009
fDate :
12-17 May 2009
Firstpage :
1461
Lastpage :
1466
Abstract :
Almost all commercially available haptic interfaces share a common pitfall, a small shoebox-sized workspace; these devices typically rely on rigid-link manipulator design concepts. In this paper we outline our design for a new kinesthetic haptic system that drastically increases the usable haptic workspace. We present a proof-of-concept prototype, along with our analysis of its capabilities. Our design uses optical tracking to sense the position of the device, and air jet actuation to generate forces. By combining these two technologies, we are able to detach our device from the ground, thus sidestepping many problems that have plagued traditional haptic devices including workspace size, friction, and inertia. We show that optical tracking and air jet actuation successfully enable kinesthetic haptic interaction with virtual environments. Given an appropriately large volume high-pressure air source, and a reasonably high speed tracking system, this design paradigm has many desirable qualities when compared to traditional haptic design schemes.
Keywords :
Biomedical optical imaging; Force sensors; Friction; Haptic interfaces; High speed optical techniques; Laboratories; Optical sensors; Robot sensing systems; Robotics and automation; Space technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
ISSN :
1050-4729
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2009.5152339
Filename :
5152339
Link To Document :
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