Design of a high performance haptic interface to virtual environments

  • Authors:

  • P. A. Millman;M. Stanley;J. E. Colgate

  • Affiliations:

  • Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA;Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA;Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA

  • Venue:
  • VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
  • Year:
  • 1993

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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.