A preliminary study on development of haptic interface for underwater vehicles

Author

Jinwoo Choi ; Youngjun Lee ; Hyun-Taek Choi ; Jeon-Jin Kang ; Jee-Hwan Ryu

Author_Institution

Ocean Syst. Eng. Res. Div., Korea Res. Inst. of Ships & Ocean Eng., Daejeon, South Korea

fYear

2015

fDate

23-25 Feb. 2015

Firstpage

1

Lastpage

4

Abstract

This paper presents a method of force feedback for the haptic interface of underwater vehicles. The force feedback is implemented by estimating repulsive force based on the external sensor fusion. The repulsive force of the haptic system is composed of two parts: 1) the applied force to the underwater vehicle, and 2) a virtual force from the underwater obstacles. The applied force to the underwater vehicle is acquired by estimating the status of the vehicle using external sensors. Moreover, the virtual force is acquired from the distance between underwater obstacles and the vehicle. Using both sensorial data, the proposed method generates the repulsive force for the force feedback of haptic interface. The proposed method was verified by simple experiment in a basin.

Keywords

autonomous underwater vehicles; force feedback; haptic interfaces; sensor fusion; applied force; external sensor fusion; force feedback; haptic interface; haptic system; repulsive force; sensorial data; underwater vehicles; virtual force; Coordinate measuring machines; Force; Haptic interfaces; Robot kinematics; Sensors; Vehicles; Force feedback; Haptic system; Sensor fusion; Underwater vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Underwater Technology (UT), 2015 IEEE

Conference_Location

Chennai

Print_ISBN

978-1-4799-8299-8

Type

conf

DOI

10.1109/UT.2015.7108299

Filename

7108299