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ICRA
2005
IEEE

Haptic Rendering of Topological Constraints to Users Manipulating Serial Virtual Linkages

9 years 3 months ago
Haptic Rendering of Topological Constraints to Users Manipulating Serial Virtual Linkages
— This paper presents an approach for haptic rendering of topological constraints to users operating serial virtual linkages. In the proposed approach, a haptic device controller is designed to penalize users’ departure from the configuration manifold of the virtual linkage. This manifold is locally approximated through the range space of the Jacobian of the virtual linkage computed at the user’s hand. Simulations and controlled experiments performed using a planar haptic interaction system demonstrate that the proposed approach successfully constrains the users’ motion as required by the topology of the virtual linkage that they manipulate.
Daniela Constantinescu, S. E. Salcudean, Elizabeth
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Daniela Constantinescu, S. E. Salcudean, Elizabeth A. Croft
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