Portable Haptic Interface with Omni-Directional Movement and Force Capability

Author

Avizzano, Carlo Alberto ; Satler, Massimo ; Ruffaldi, Emanuele

Author_Institution

Perceptual Robot. Lab. (PERCRO), Scuola Superiore Sant´ Anna, Pisa, Italy

Volume

7

Issue

2

fYear

2014

fDate

April-June 2014

Firstpage

110

Lastpage

120

Abstract

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

Keywords

control system synthesis; force feedback; haptic interfaces; mobile robots; sensor fusion; telerobotics; wheels; 2DOF force feedback; control design; control modalities; force capability; force rendering; functional aspects; mobile haptic interface; omnidirectional Killough type platform; omnidirectional movement; portable haptic interface; sensor fusion; wheels; Force; Force feedback; Rendering (computer graphics); Robot sensing systems; Wheels; Haptic interfaces; force feedback; mobile robots; rehabilitation robotics;

fLanguage

English

Journal_Title

Haptics, IEEE Transactions on

Publisher

ieee

ISSN

1939-1412

Type

jour

DOI

10.1109/TOH.2014.2310462

Filename

6763021