Dynamic Performance of Mobile Haptic Interfaces
Identifieur interne : 000932 ( PascalFrancis/Corpus ); précédent : 000931; suivant : 000933Dynamic Performance of Mobile Haptic Interfaces
Auteurs : Alessandro Formaglio ; Domenico Prattichizzo ; Federico Barbagli ; Antonio GiannitrapaniSource :
- IEEE transactions on robotics [ 1552-3098 ] ; 2008.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
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.
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NO : | PASCAL 08-0327426 INIST |
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ET : | Dynamic Performance of Mobile Haptic Interfaces |
AU : | FORMAGLIO (Alessandro); PRATTICHIZZO (Domenico); BARBAGLI (Federico); GIANNITRAPANI (Antonio) |
AF : | Dipartimento di Ingegneria dell'lnformazione, University of Siena/53100 Siena/Italie (1 aut., 2 aut., 4 aut.); Stanford Robotics Laboratory, Stanford University/CA 94305-5404/Etats-Unis (3 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | IEEE transactions on robotics ; ISSN 1552-3098; Etats-Unis; Da. 2008; Vol. 24; No. 3; Pp. 559-575; Bibl. 16 ref. |
LA : | Anglais |
EA : | 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. |
CC : | 001D02D11; 001D02B04; 001D02D07; 001D02D06 |
FD : | Robotique; Commande force; Locomotion; Navigation; Homme; Robot mobile; Synthèse commande; Analyse performance; Interface utilisateur; Sensibilité tactile; Réalité virtuelle; Transparence; Dynamique robot; Méthode dynamique; . |
ED : | Robotics; Force control; Locomotion; Navigation; Human; Moving robot; Control synthesis; Performance analysis; User interface; Tactile sensitivity; Virtual reality; Transparency; Robot dynamics; Dynamic method |
SD : | Robótica; Control fuerza; Locomoción; Navegación; Hombre; Robot móvil; Síntesis control; Análisis eficacia; Interfase usuario; Sensibilidad tactil; Realidad virtual; Transparencia; Método dinámico |
LO : | INIST-21023A.354000198062990050 |
ID : | 08-0327426 |
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