Display of Feel for the Manipulation of Dynamic Virtual Objects

Yoshikawa, Tsuneo; Yokokohji, Yasuyoshi; Matsumoto, Tomoharu; Zheng, Xin-Zhi

doi:10.1115/1.2801114

Cited by 56 publications

(21 citation statements)

References 7 publications

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“…Two main families of haptic devices have been defined in the past: admittance and impedance [10]. In the following we will focus our attention only on the latter, i.e.…”

Section: Introductionmentioning

confidence: 99%

Multirate analysis of haptic interaction stability with deformable objects

Barbagli¹,

Prattichizzo²,

Salisbury³

Proceedings of the 41st IEEE Conference on Decision and Control, 2002.

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This paper describes a new technique for allowing multiple users to haptically interact with a set of deformable slowly-simulated objects in a stable manner. Stability has been approached in the past by various researchers using passivity theory in order to avoid having to model the human operator closing the haptic loop. None of these solutions however can work well without the use of high update rates and thus break down in the case of haptic interaction with slowly simulated virtual environments such as the ones featuring highly precise deformable objects. This is particularly true for the case of surgical simulation with force feedback, where precision is a key issue and where complexity can reach high levels. The techniques presented in this paper are based on the concepts of local model for haptic interaction adapted to deformable objects. Such approach allows multiple users to stably interact with a same object while feeling the influence of other users on the same object. Experimental results employing a PHANTOM haptic interface are proposed for a simple example.

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“…Two main families of haptic devices have been defined in the past: admittance and impedance [10]. In the following we will focus our attention only on the latter, i.e.…”

Section: Introductionmentioning

confidence: 99%

Multirate analysis of haptic interaction stability with deformable objects

Barbagli¹,

Prattichizzo²,

Salisbury³

Proceedings of the 41st IEEE Conference on Decision and Control, 2002.

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“…Many methods have been proposed for designing and controlling a human-machine system constructed with an impedance-controlled robot [17]- [26] since the overall system can be described by the impedance property. Those studies can be classified into two types according to whether the human impedance property is constant during operation [18], [19], or variable [20], [21], [22], [23].…”

mentioning

confidence: 99%

“…Those studies can be classified into two types according to whether the human impedance property is constant during operation [18], [19], or variable [20], [21], [22], [23]. Some research studies addressed the method for providing the realistic feel to improve performances in the manual task [20], [25], [26], but no detailed discussion has addressed how a machine should adapt its dynamics for HMIP that would change widely depending on the NMS condition during manual operations.…”

mentioning

confidence: 99%

Vehicle Active Steering Control System Based on Human Mechanical Impedance Properties of the Arms

Tanaka

Yamada

Tsuji

et al. 2014

IEEE Trans. Intell. Transport. Syst.

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Abstract-This paper presents the experimental data of human mechanical impedance properties (HMIP) of the arms measured in the steering operations according to the angle of a steering wheel (limbs posture) and the steering torque (muscle co-contraction). The HMIP data shows that human stiffness/viscosity has the minimum/maximum value at the neutral angle of the steering wheel in relax (standard condition) and increases/decreases for the amplitude of steering angle and torque, and that the stability of arms motion in handling the steering wheel becomes high around the standard condition. Next a novel methodology for designing an adaptive steering control system based on HMIP of the arms is proposed, and the effectiveness was then demonstrated via a set of double-lanechange tests with several subjects using the originally developed stationary driving simulator and the 4-DOF driving simulator with a movable cockpit.

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“…Our discussion will be made in the context of impedance devices [19] (or isotonic devices [6]), i.e. mechanical devices, typically featuring low inertia and high backdrivability, configured to render a commanded force while providing a measurement of their position and/or velocity.…”

Section: Some Definitionsmentioning

confidence: 99%

“…A system of forces ª Ê Ò (19) defined on a subspace ª Ê Ò is said to be positional when it only depends on the position inside ª, i.e. when …”

Section: Appendixmentioning

confidence: 99%