Haptic interaction with vitual environment using an arm type exoskeleton device
Identifieur interne : 006C10 ( Main/Curation ); précédent : 006C09; suivant : 006C11Haptic interaction with vitual environment using an arm type exoskeleton device
Auteurs : WUSHENG CHOU [République populaire de Chine] ; TIANMIAO WANG [République populaire de Chine] ; JING XIAO [États-Unis]Source :
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Homme, Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
Haptic rendering has the potential to increase the quality of human-computer interaction with virtual environment by accommodating the sense of touch. In this paper, a 7 DOF arm type exoskeleton device is designed and implemented. Human user can haptically interact with virtual environment by using this light-weight device. The principles of measuring user's arm motions are presented, which include the dimensional mechanism. The motion of each joint of the proposed haptic device is nearly independent. The virtual contact force is also calculated in real time to meet the stringent requirement of real time haptic rendering. Experiments results show promising feasibility of the arm type exoskeleton device.
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Pascal:06-0270019Le document en format XML
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<author><name sortKey="Wusheng Chou" sort="Wusheng Chou" uniqKey="Wusheng Chou" last="Wusheng Chou">WUSHENG CHOU</name>
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<wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion>
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<author><name sortKey="Tianmiao Wang" sort="Tianmiao Wang" uniqKey="Tianmiao Wang" last="Tianmiao Wang">TIANMIAO WANG</name>
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<author><name sortKey="Jing Xiao" sort="Jing Xiao" uniqKey="Jing Xiao" last="Jing Xiao">JING XIAO</name>
<affiliation wicri:level="2"><inist:fA14 i1="02"><s1>Department of Computer Science University of North Carolina-Charlotte</s1>
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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Haptic interaction with vitual environment using an arm type exoskeleton device</title>
<author><name sortKey="Wusheng Chou" sort="Wusheng Chou" uniqKey="Wusheng Chou" last="Wusheng Chou">WUSHENG CHOU</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics Institute Beijing University of Aeronautics and Astronautics</s1>
<s2>Beijing, 100083</s2>
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<sZ>2 aut.</sZ>
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<wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion>
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<author><name sortKey="Tianmiao Wang" sort="Tianmiao Wang" uniqKey="Tianmiao Wang" last="Tianmiao Wang">TIANMIAO WANG</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Robotics Institute Beijing University of Aeronautics and Astronautics</s1>
<s2>Beijing, 100083</s2>
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<sZ>2 aut.</sZ>
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<term>Feasibility</term>
<term>Human</term>
<term>Real time</term>
<term>Skeleton</term>
<term>Tactile sensitivity</term>
<term>User interface</term>
<term>Virtual reality</term>
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<keywords scheme="Pascal" xml:lang="fr"><term>Homme</term>
<term>Temps réel</term>
<term>Interface utilisateur</term>
<term>Bras</term>
<term>Squelette</term>
<term>Sensibilité tactile</term>
<term>Réalité virtuelle</term>
<term>Faisabilité</term>
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<front><div type="abstract" xml:lang="en">Haptic rendering has the potential to increase the quality of human-computer interaction with virtual environment by accommodating the sense of touch. In this paper, a 7 DOF arm type exoskeleton device is designed and implemented. Human user can haptically interact with virtual environment by using this light-weight device. The principles of measuring user's arm motions are presented, which include the dimensional mechanism. The motion of each joint of the proposed haptic device is nearly independent. The virtual contact force is also calculated in real time to meet the stringent requirement of real time haptic rendering. Experiments results show promising feasibility of the arm type exoskeleton device.</div>
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