Title :
Design of a high performance haptic interface to virtual environments
Author :
Millman, P.A. ; Stanley, Michael ; Colgate, J. Edward
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Abstract :
The design of a four degree-of-freedom, force-reflecting manipulandum for manual interaction with virtual environments is presented. The device emulates a handtool which the operator can use to explore and manipulator virtual objects. The performance of the device (its including to generate a broad range of impedances) is determined by a variety of factors, including the inherent dynamics of the manipulator, the accuracy and resolution of sensors, and the speed of the digital controller
Keywords :
computerised control; data gloves; force control; manipulator kinematics; user interfaces; virtual reality; digital controller; force-reflecting manipulandum; handtool; high performance haptic interface; impedances; inherent dynamics; manual interaction; virtual environments; virtual objects; Computational modeling; Computer simulation; Digital control; Force measurement; Haptic interfaces; Humans; Impedance; Manipulator dynamics; Springs; Virtual environment;
Conference_Titel :
Virtual Reality Annual International Symposium, 1993., 1993 IEEE
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-1363-1
DOI :
10.1109/VRAIS.1993.380775
