Rendering a Rigid Virtual World through an Impulsive Haptic Interface

— This paper deals with the haptic rendering of collisions between a human operator and rigid objects in a virtual environment. The focus being on high-velocity impacts on a rigid wall. After discussing the importance of velocity measurements in contrast to force measurements, a new haptic device is introduced. The new device is capable of applying directly an ‘impulse’ to the operator, similar to collisions occurring in the real world. Based on a Poisson-model of the rigid virtual object, the necessary change of momentum of the operator’s hand is being estimated online. A momentum wheel, under velocitycontrol, is engaged through an electromagnetic toothed clutch, at the estimated instant of impact. The resulting immediate change in momentum is thought to be essential for giving interactions with rigid virtual objects a realistic feel. Rather than generating so-called ‘impulsive forces’ with big motors, this approach relies only on small motors and is thus intrinsically saf...

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Emmanuel B. Vander Poorten, Yasuyoshi Yokokohji
• Keywords: IROS 2006, Rigid Objects, Rigid Virtual Objects, Rigid Wall, Robotics