In this paper, the importance of the user’s primary holding pivot point on the end effector of a haptic interface is discussed. Both theoretical analysis and experimental results demonstrate that this holding pivot point is critical for the correct perception of the haptic properties assigned to the virtual objects. We also study the physical inertia effects of the end effector on the non-uniform stiffness perception of simulated virtual objects. To the best of our knowledge, no such combined consideration of holding pivot point and device structure related inertia has so far been made for works in 6-DOF haptic rendering. We have instrumented the end effector of a haptic interface with a membrane potentiometer to measure the user’s primary holding pivot point in real-time. Accordingly, a preliminary adaptive feedback method is developed to render the appropriate forces/torques to compensate for the effects of the end effector’s inertia on the haptic stiffness perception. ; TRUE ; pub


    Access

    Download


    Export, share and cite



    Title :

    Compensating Device Inertia for 6-DOF Haptic Rendering


    Contributors:

    Publication date :

    2009-10-11


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Haptic Rendering of Dynamic Volumetric Data

    Lundin Palmerius, Karljohan / Cooper, Matthew / Ynnerman, Anders | BASE | 2008

    Free access

    DEVICE FOR COMPENSATING FREE INERTIA FORCES OF A RECIPROCATING PISTON INTERNAL COMBUSTION ENGINE

    STEINER BERND / KUEPPER KLAUS P / GREGORY JONATHAN | European Patent Office | 2018

    Free access

    Device for compensating free inertia forces of a reciprocating piston internal combustion engine

    STEINER BERND / KUEPPER KLAUS P / GREGORY JONATHAN | European Patent Office | 2021

    Free access

    Zero-gravity environment simulation device and method capable of compensating additional mass inertia force

    JIANG WEI / CHEN HUI / ZHOU RUI et al. | European Patent Office | 2023

    Free access