Haptic interaction with vitual environment using an arm type exoskeleton device
Identifieur interne : 000D04 ( PascalFrancis/Checkpoint ); précédent : 000D03; suivant : 000D05Haptic 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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<record><TEI><teiHeader><fileDesc><titleStmt><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><s3>CHN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion></affiliation></author><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><s3>CHN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion></affiliation></author><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><s2>Charlotte, NC28223</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Caroline du Nord</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0270019</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0270019 INIST</idno><idno type="RBID">Pascal:06-0270019</idno><idno type="wicri:Area/PascalFrancis/Corpus">000D35</idno><idno type="wicri:Area/PascalFrancis/Curation">000771</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000D04</idno></publicationStmt><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><s3>CHN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion></affiliation></author><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><s3>CHN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>République populaire de Chine</country><wicri:noRegion>Robotics Institute Beijing University of Aeronautics and Astronautics</wicri:noRegion></affiliation></author><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><s2>Charlotte, NC28223</s2><s3>USA</s3><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Caroline du Nord</region></placeName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Arm</term><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></keywords><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></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Homme</term><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Haptic interaction with vitual environment using an arm type exoskeleton device</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings</s1></fA09><fA11 i1="01" i2="1"><s1>WUSHENG CHOU</s1></fA11><fA11 i1="02" i2="1"><s1>TIANMIAO WANG</s1></fA11><fA11 i1="03" i2="1"><s1>JING XIAO</s1></fA11><fA14 i1="01"><s1>Robotics Institute Beijing University of Aeronautics and Astronautics</s1><s2>Beijing, 100083</s2><s3>CHN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></fA14><fA14 i1="02"><s1>Department of Computer Science University of North Carolina-Charlotte</s1><s2>Charlotte, NC28223</s2><s3>USA</s3><sZ>3 aut.</sZ></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and automation society</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA20><s1>1992-1997</s1></fA20><fA21><s1>2004</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-8232-3</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IEEE International Conference on Robotics and Automation</s1><s2>21</s2><s3>New Orleans LA USA</s3><s4>2004</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 38842</s2><s5>354000153471323220</s5></fA43><fA44><s0>0000</s0><s1>© 2006 INIST-CNRS. 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