Title :
Haptic interface control-design issues and experiments with a planar device
Author :
Sirouspour, Mohammad R. ; DiMaio, S.P. ; Salcudean, S.E. ; Abolmaesumi, P. ; Jones, C.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
Describes the haptic rendering of a virtual environment by drawing upon concepts developed in the area of teleoperation. A four-channel teleoperation architecture is shown to be an effective means of coordinating the control of a 3-DOF haptic interface with the simulation of a virtual dynamic environment
Keywords :
dynamics; haptic interfaces; telecontrol; virtual reality; 3-DOF haptic interface; four-channel teleoperation architecture; haptic interface control design; haptic rendering; planar device; teleoperation; virtual dynamic environment; virtual environment; Control design; Couplings; DC motors; Displays; Force control; Force measurement; Haptic interfaces; Impedance; Rendering (computer graphics); Virtual environment;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844147
