HapStick: A High Fidelity Haptic Simulation for Billiards

This paper presents the work in developing a high fidelity haptic device and virtual environment for playing billiards. The haptic device features a natural user interface to simulate realistic play of billiards. The paper also discusses the physics behind the virtual reality game, the kinematics and dynamics of the force feedback device and finally an implementation of a computed torque control for providing haptic feedback. Complete information about calibration and comparative performance measures for the device has also been provided. The paper also aims to serve as a template for anyone who is interested in building their own beginner level haptic interface. Information regarding the device and the necessary code and blueprints has been uploaded on the lab's research Web site to facilitate the same