Dynamic performance of mobile haptic interfaces

被引：14

作者：

Formaglio, Alessandro ^{[1
]}

Prattichizzo, Domenico ^{[1
]}

Barbagli, Federico ^{[2
]}

Giannitrapani, Antonio ^{[1
]}

机构：

[1] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy

[2] Stanford Univ, Stanford Robot Lab, Stanford, CA 94305 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2008年 / 24卷 / 03期

关键词：

design; haptics; mobile robots; performance analysis;

D O I：

10.1109/TRO.2008.924262

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The increasing demand for virtual reality applications in several scientific disciplines feeds new research perspectives dealing with robotics, automation, and computer science. In this context, one of the topics is the design of advanced force-feedback devices allowing not only kinesthetic interaction with virtual objects but also locomotion and navigation inside virtual worlds. This has the main advantage to stimulate human vestibular apparatus, thus increasing the overall realism of simulation. Particularly, this paper deals with mobile haptic interfaces (MHIs), built by combining standard force-feedback devices with mobile platforms. We investigated which factors may affect the transparency of this kind of devices, identifying in mobile robot dynamics a possible cause of loss of transparency. Hence, in this paper, we present a method to analyze dynamic performance of an MHI and some basic guidelines to design controller in order to meet desired specifications. Experimental validation of the theoretical results is reported.

引用

页码：559 / 575

页数：17

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