A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects

Haptic or kinesthetic feedback is essential in many important virtual reality and telepresence applications. Previous research focuses on simulating static forces such as those encountered when interacting with a stiff object such as a wall. Past studies usually employ custom-made devices that are not readily available to other researchers. Consequently, many of the results found in the haptic feedback literature cannot be replicated independently. With experimental results, the paper demonstrates that "off the shelf," general purpose robotics equipment can be incorporated into an effective haptic/kinesthetic feedback system. Such a system can accommodate a wide variety of virtual reality applications including training and telerobotics. An admittance control scheme is utilized, which enables the simulation of dynamic force and moment interaction as well as contact with stiff objects. The paper shows that the mechanical deficiencies (e.g., friction, inertia, and backlash) often associated with general purpose manipulators can be overcome with a suitable control system architecture.