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ICRA
2003
IEEE

A telemanipulation system for psychophysical investigation of haptic interaction

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A telemanipulation system for psychophysical investigation of haptic interaction
We report an experimental high- delity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom 6-DOF Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces torques using the same 6-DOF master device. In the virtual task scenario, interactions are rendered haptically. In the real task scenario, the manipulandum of the haptic device interacts by direct mechanics with a real environment. In the remote-real scenario, interactions with a remote real task environment are mediated through a 6-DOF Lorentz magnetic levitation slave device carried by a 6-DOF robot arm. In all three scenarios, visual feedback is provided by a graphical display. The system records accurate positions orientations and forces torques as a function of time. These records can be ...
B. J. Unger, Roberta L. Klatzky, Ralph L. Hollis
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors B. J. Unger, Roberta L. Klatzky, Ralph L. Hollis
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