A Force Bounding Approach in Joint Space for Interacting With Dynamic Multi-Degrees of Freedom Virtual Objects
| Autor: | Sungjun Park, Sang-Yun Baek, Jeha Ryu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Virtual Reality Rotation around a fixed axis 02 engineering and technology Degrees of freedom (mechanics) Motion (physics) Computer Science Applications Human-Computer Interaction User-Computer Interface 020303 mechanical engineering & transports 020901 industrial engineering & automation Operator (computer programming) Touch Perception 0203 mechanical engineering Touch Virtual image Control theory Bounding overwatch Force dynamics Humans Torque |
| Zdroj: | IEEE Transactions on Haptics. 12:217-223 |
| ISSN: | 2334-0134 1939-1412 |
| DOI: | 10.1109/toh.2018.2867023 |
| Popis: | This When you submit your corrections, please either annotate the IEEE Proof PDF or send a list of corrections. Do not send new source files as we do not reconvert them at this production stage. ?> paper proposes a new relative motion-based dynamic force bounding approach (dynamic FBA) for stably interacting with dynamic multi-degrees of freedom (DOF) virtual objects. Considering the relative motion of the moving virtual object and human operator, a new multi-DOF passivity condition is derived in the joint space to easily cover the rotational motion in the task space. This approach overcomes some of the limitations of previous static approaches, which could not display the interaction force with moving virtual objects because they only considered the motion of the operator in their controllers. To validate the effectiveness of the proposed approach, various dynamic scenarios are tested. The experimental and simulation results demonstrate that the proposed approach ensures stability and direction transparency of the haptic interaction with any passive or slightly active dynamic multi-DOF system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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