A Proposal of a High Definition Haptic Rendering for Stability and Fidelity

In this paper, we propose a 10 kHz high definition haptic rendering which can display on real-time video-rate (60Hz) in general VR applications. Our proposal requires both fidelity and stability in the multi-rate system, which the frequency ratio approximates at 160 times. For satisfying two criteria, there are some problems to be resolved. In the view of getting only stability, we can use a virtual coupling method to link a haptic display and a virtual object. Due to low its coupling impedance, this method isn´t good for realization of fidelity and quality of manipulation. Therefore, we have developed a multi-rate system with two level up-sampling for both fidelity and stability of haptic sensation. The first level up-sampling achieves stability with the virtual coupling, and the second level achieves fidelity with 10kHz haptic rendering to compensate the haptic quality lost from the coupling process. We confirmed that our proposed system could achieve both the stability and fidelity of haptic rendering through a computer simulation and a 6DOF haptic interface (SPIDAR-G) with a rigid object simulation engine.