By Topic

System improvements in Mobile Haptic Interface

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)
In Lee ; Haptics & Virtual Reality Lab., POSTECH, Pohang ; Inwook Hwang ; Kyung-Lyoung Han ; Oh Kyu Choi
more authors

A mobile haptic interface (MHI), a force-feedback haptic interface with a mobile base, allows to render very large virtual objects in a safe and portable manner. In this paper, we present a novel MHI system, featured with: 1) extended horizontal workspace using a omni-directional mobile base, 2) extended vertical workspace using a linear lift, 3) high-accuracy estimation of the position of the haptic interface tool, 4) efficient motion planning algorithm to move the mobile base while avoiding collisions with the user and other objects, and 5) closed-loop force control to compensate the undesired effect of mobile base dynamics on the final rendering force perceived by the user. As a consequence, our MHI system can provide high quality haptic rendering of large virtual objects.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009