Tension based 7-DOF force feedback device: SPIDAR-G

Author

Kim, Seahak ; Hasegawa, Shoichi ; Koike, Yasuharu ; Sato, Makoto

Author_Institution

Precision & Intelligence Lab., Tokyo Inst. of Technol., Japan

fYear

2002

fDate

2002

Firstpage

283

Lastpage

284

Abstract

We demonstrate a new intuitive force feedback device for advanced VR applications. Force feedback for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp. The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G is described in detail and the space graphic user interface system based on the proposed SPIDAR-G system is demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality

Keywords

force feedback; graphical user interfaces; haptic interfaces; interactive devices; virtual reality; SPIDAR-G; Space Interface Device for Artificial Reality with Grip; experimental results; haptic rendering; hemispherical grips; minimized inertia; safety; scalability; seven degrees of freedom; space graphic user interface; tension based force feedback device; virtual objects; virtual reality; Control systems; Extremities; Force feedback; Graphics; Haptic interfaces; Rendering (computer graphics); Safety; Scalability; User interfaces; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Virtual Reality, 2002. Proceedings. IEEE

Conference_Location

Orlando, FL

ISSN

1087-8270

Print_ISBN

0-7695-1492-8

Type

conf

DOI

10.1109/VR.2002.996540

Filename

996540