Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and haptic guidance. The main contribution of this paper is the development of a reliable method to haptically guide the user within a virtual robotic task, by means of: on-line, collision free, path planning generated trajectories. To accomplish haptic guidance three stages must be correctly done: the first one where the user selects the desired objects and obstacles within a virtual environment to set up the task, the second one, where a path planner looks for the task trajectory and, the third one, where the user is constrained to on-line generated local channels and solution paths that offer a reliable path guidance system to achieve the task movements. ; Peer Reviewed ; Postprint (author’s final draft)


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    Title :

    Haptic Primitives Guidance Based on the Kautham Path Planner



    Publication date :

    2010-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





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