Dynamics modeling of an encountered haptic interface for ball catching and impact tasks simulation

Authors:
M. Solazzi;D. Pellegrinetti;P. Tripicchio;A. Frisoli;M. Bergamasco
Affiliations:
PERCRO Lab, Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy;PERCRO Lab, Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy;PERCRO Lab, Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy;PERCRO Lab, Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy;PERCRO Lab, Scuola Superiore Sant'Anna, TeCIP Institute, Pisa, Italy
Venue:
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Year:
2012

Citing 4
Cited 0

Lowering the development time of multimodal interactive application: the real-life experience of the XVR project

Proceedings of the 2005 ACM SIGCHI International Conference on Advances in computer entertainment technology
Control strategies and perception effects in co-located and large workspace dynamical encountered haptics

WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Robotic graphics: a new approach to force feedback for virtual reality

VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
Haptic rendering of juggling with encountered type interfaces

Presence: Teleoperators and Virtual Environments

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper deals with a model-based control strategy implemented on an encountered haptic interface developed for the simulation of ball catching tasks. A dynamical model of a reference device has been developed and validated by experimental results. This model was applied to increase the control performance and to simulate realistic impacts. The control strategy to generate the haptic interface trajectories consistent with the simulation of ballistic motion of virtual objects has been defined. At the impact instant the perceptively correct kinetic energy is transferred from the device end-effector to the user hand adopting a velocity scaling rule. Experimental results confirm control accuracy in fast dynamics trajectory tracking.