Inertial-Force Feedback for the Treadport Locomotion Interface

  • Authors:

  • Robert R. Christensen;John M. Hollerbach;Yangming Xu;Sanford G. Meek

  • Affiliations:

  • Mechanical Engineering Department, Computer Science Department, University of Utah, Salt Lake City, UT 84112, www.cs.utah.edu/∼jmh/locomotion.html;Mechanical Engineering Department, Computer Science Department, University of Utah, Salt Lake City, UT 84112, www.cs.utah.edu/∼jmh/locomotion.html, jmh@cs.utah.edu;Mechanical Engineering Department, Computer Science Department, University of Utah, Salt Lake City, UT 84112, www.cs.utah.edu/∼jmh/locomotion.html;Mechanical Engineering Department, Computer Science Department, University of Utah, Salt Lake City, UT 84112, www.cs.utah.edu/∼jmh/locomotion.html

  • Venue:
  • Presence: Teleoperators and Virtual Environments
  • Year:
  • 2000

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Abstract

The inertial force due to the acceleration of a locomotion interface is identified as a difference between virtual and real-world locomotion. To counter the inertial force, inertial-force feedback was implemented for the Treadport, a locomotion interface. A force controller was designed for a mechanical tether to apply the feedback force to the user. For the case of the user accelerating forward from rest, psychophysical ex periments showed that subjects preferred inertial-force feedback to a spring-feedback force proportional to position or to position control, where the force feedback maintained a force of zero on the subject.