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Dynamic Performance of Mobile Haptic Interfaces

Identifieur interne : 000932 ( PascalFrancis/Corpus ); précédent : 000931; suivant : 000933

Dynamic Performance of Mobile Haptic Interfaces

Auteurs : Alessandro Formaglio ; Domenico Prattichizzo ; Federico Barbagli ; Antonio Giannitrapani

Source :

RBID : Pascal:08-0327426

Descripteurs français

English descriptors

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

pA  
A01 01  1    @0 1552-3098
A03   1    @0 IEEE trans. robot.
A05       @2 24
A06       @2 3
A08 01  1  ENG  @1 Dynamic Performance of Mobile Haptic Interfaces
A11 01  1    @1 FORMAGLIO (Alessandro)
A11 02  1    @1 PRATTICHIZZO (Domenico)
A11 03  1    @1 BARBAGLI (Federico)
A11 04  1    @1 GIANNITRAPANI (Antonio)
A14 01      @1 Dipartimento di Ingegneria dell'lnformazione, University of Siena @2 53100 Siena @3 ITA @Z 1 aut. @Z 2 aut. @Z 4 aut.
A14 02      @1 Stanford Robotics Laboratory, Stanford University @2 CA 94305-5404 @3 USA @Z 3 aut.
A20       @1 559-575
A21       @1 2008
A23 01      @0 ENG
A43 01      @1 INIST @2 21023A @5 354000198062990050
A44       @0 0000 @1 © 2008 INIST-CNRS. All rights reserved.
A45       @0 16 ref.
A47 01  1    @0 08-0327426
A60       @1 P
A61       @0 A
A64 01  1    @0 IEEE transactions on robotics
A66 01      @0 USA
C01 01    ENG  @0 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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C03 02  X  FRE  @0 Commande force @5 07
C03 02  X  ENG  @0 Force control @5 07
C03 02  X  SPA  @0 Control fuerza @5 07
C03 03  X  FRE  @0 Locomotion @5 08
C03 03  X  ENG  @0 Locomotion @5 08
C03 03  X  SPA  @0 Locomoción @5 08
C03 04  X  FRE  @0 Navigation @5 09
C03 04  X  ENG  @0 Navigation @5 09
C03 04  X  SPA  @0 Navegación @5 09
C03 05  X  FRE  @0 Homme @5 10
C03 05  X  ENG  @0 Human @5 10
C03 05  X  SPA  @0 Hombre @5 10
C03 06  X  FRE  @0 Robot mobile @5 11
C03 06  X  ENG  @0 Moving robot @5 11
C03 06  X  SPA  @0 Robot móvil @5 11
C03 07  X  FRE  @0 Synthèse commande @5 12
C03 07  X  ENG  @0 Control synthesis @5 12
C03 07  X  SPA  @0 Síntesis control @5 12
C03 08  X  FRE  @0 Analyse performance @5 13
C03 08  X  ENG  @0 Performance analysis @5 13
C03 08  X  SPA  @0 Análisis eficacia @5 13
C03 09  X  FRE  @0 Interface utilisateur @5 18
C03 09  X  ENG  @0 User interface @5 18
C03 09  X  SPA  @0 Interfase usuario @5 18
C03 10  X  FRE  @0 Sensibilité tactile @5 19
C03 10  X  ENG  @0 Tactile sensitivity @5 19
C03 10  X  SPA  @0 Sensibilidad tactil @5 19
C03 11  X  FRE  @0 Réalité virtuelle @5 20
C03 11  X  ENG  @0 Virtual reality @5 20
C03 11  X  SPA  @0 Realidad virtual @5 20
C03 12  X  FRE  @0 Transparence @5 21
C03 12  X  ENG  @0 Transparency @5 21
C03 12  X  SPA  @0 Transparencia @5 21
C03 13  3  FRE  @0 Dynamique robot @5 22
C03 13  3  ENG  @0 Robot dynamics @5 22
C03 14  X  FRE  @0 Méthode dynamique @5 28
C03 14  X  ENG  @0 Dynamic method @5 28
C03 14  X  SPA  @0 Método dinámico @5 28
C03 15  X  FRE  @0 . @4 INC @5 82
N21       @1 203
N44 01      @1 OTO
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Format Inist (serveur)

NO : PASCAL 08-0327426 INIST
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

Links to Exploration step

Pascal:08-0327426

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<NO>PASCAL 08-0327426 INIST</NO>
<ET>Dynamic Performance of Mobile Haptic Interfaces</ET>
<AU>FORMAGLIO (Alessandro); PRATTICHIZZO (Domenico); BARBAGLI (Federico); GIANNITRAPANI (Antonio)</AU>
<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.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on robotics ; ISSN 1552-3098; Etats-Unis; Da. 2008; Vol. 24; No. 3; Pp. 559-575; Bibl. 16 ref.</SO>
<LA>Anglais</LA>
<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.</EA>
<CC>001D02D11; 001D02B04; 001D02D07; 001D02D06</CC>
<FD>Robotique; Commande force; Locomotion; Navigation; Homme; Robot mobile; Synthèse commande; Analyse performance; Interface utilisateur; Sensibilité tactile; Réalité virtuelle; Transparence; Dynamique robot; Méthode dynamique; .</FD>
<ED>Robotics; Force control; Locomotion; Navigation; Human; Moving robot; Control synthesis; Performance analysis; User interface; Tactile sensitivity; Virtual reality; Transparency; Robot dynamics; Dynamic method</ED>
<SD>Robótica; Control fuerza; Locomoción; Navegación; Hombre; Robot móvil; Síntesis control; Análisis eficacia; Interfase usuario; Sensibilidad tactil; Realidad virtual; Transparencia; Método dinámico</SD>
<LO>INIST-21023A.354000198062990050</LO>
<ID>08-0327426</ID>
</server>
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