NDLI: Interaction with a real time dynamic environment simulation using a magnetic levitation haptic interface device

Content Provider	IEEE Xplore Digital Library
Author	Berkelman, P.J. Hollis, R.L. Baraff, D.
Copyright Year	1999
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Berkelman, P.J.)
Abstract	A high performance six degree-of-freedom magnetic levitation haptic interface device has been integrated with a physically-based dynamic rigid-body simulation to enable realistic user interaction in real time with a 3-D dynamic virtual environment. The user grasps the levitated handle of the device to manipulate a virtual tool in the simulated environment and feels its force and motion response as it contacts and interacts with other objects in the simulation. The physical simulation and the magnetic levitation controller execute independently on separate processors. The position and orientation of the virtual tool in the simulation and the levitated handle of the maglev device are exchanged at each update of the simulation. The position and orientation data from each system act as impedance control setpoints for the other, with position error and velocity feedback on each system acting as virtual coupling between the two systems. The setpoints from the simulation are interpolated by the controller at the faster device control rate so that the user feels smooth sliding contacts without chattering due to the slower updates of the simulation. The simple feedback coupling between the two systems enables the overall stiffness and stability of the combined system to be tuned easily and provides realistic haptic user interaction. Sample task simulation environments have been programmed to demonstrate the effectiveness of the haptic interaction system.
Starting Page	3261
Ending Page	3266
File Size	610088
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.774095
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic levitation Haptic interfaces Medical simulation Lorentz covariance Robots Feedback Vehicle dynamics Solid modeling Friction Motion control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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