Human-robot interaction via haptic device

This paper presents a novel human-robot interaction system for which haptic interaction is involved. The system consists of a nonholonomic mobile robot and a Phantom Omni haptic device. The tracking problem on the 2D plane is analyzed and the backstepping technique is used for designing the tracking algorithm for the nonholonomic mobile robot. A haptic rendering algorithm is designed to generate the haptic feedback based on the position error information. Experiments show that the user can guide the movement of the robot quite easily and smoothly.