Comparison of tracker-based to tracker-less haptic device calibration

In our current work we explore the feasibility of using visuo-haptic augmented reality techniques for training and remote collaboration. Accurate calibration of system components is a key factor in this context. In this paper we deal with the calibration of the kinematic parameters of the haptic device. We compare a previously developed technique using an external optical tracker to a new approach not relying on additional devices. Simulated and real experiments are carried out to investigate the performance of the new technique. As will be shown, both methods yield reasonable results with average errors in the workspace below 2mm. It is found that the trackerless technique is an acceptable alternative to using a tracker for calibration, with only slightly reduced accuracy. It is straightforward to apply and allows to improve rendering fidelity.