Inverse kinematics for shape rendering interfaces

Klare, Stefan; Peer, Angelika

doi:10.1109/icra.2013.6630841

Cited by 2 publications

(8 citation statements)

References 9 publications

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“…The connections between the nodes, which are used to render the shape, feature several joints. In [12], we showed that 3 DoFs per node are needed to render a shape. This means that M = 3 n must hold, with n the number of free nodes and M the number of overall DoFs of the device.…”

Section: B Determinacymentioning

confidence: 99%

“…We observed that especially spherical shapes were not rendered satisfactorily by this early version of the FO as the nodes were not able to position and orient themselves properly at the same time. As shown in [12], 3 DoFs per node are needed to render a shape. To be more precise, one translational DoF (distance to the virtual surface) and two rotational DoFs (alignment normal to virtual surface) per node are required.…”

Section: Kinematic Design Of Basic Configurationmentioning

confidence: 99%

“…= M (s), and thus, all three mechanisms are determined, for any step of extension. For the proof of determinacy, please refer to (11), (12), and (13) in the appendix.…”

Section: E Expanding the Fomentioning

confidence: 99%

“…9. We assume that desired joint angles are either calculated offline based on optimization [9] or a differential kinematics method [12] already introduced in our previous work. The inverse kinematics delivers desired joint angles of active joints q a , which can be measured by sensors and actuated by motors via the cable transmission.…”

Section: Controlmentioning

confidence: 99%

See 3 more Smart Citations

The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface

Klare

Peer

2015

IEEE/ASME Trans. Mechatron.

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Interacting with 3-D-shaped objects using bare hands represents a very intuitive way to explore object shapes and offers lots of new opportunities in the field of virtual reality and design. Only a few 3-D shape rendering interfaces are known in the literature so far, but their resolution is rather low and/or they are not actuated. Thus, a new parallel kinematic design for an actuated 3-D shape rendering interface with a comparatively high resolution is presented, which can be extended to cover larger interaction areas. Starting from a preliminary configuration, its kinematics is optimized for the rendering of basic shapes like cylinders or spheres. Due to its specific parallel kinematic design, where a determined system is gained by attaching one node to the environment, it can easily be mounted as an end-effector to kinesthetic haptic interfaces. The presented prototype of the formable object is evaluated with respect to its ability to render basic static and dynamic shapes as well as its maximum achievable mechanical stiffness.

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Section: B Determinacymentioning

confidence: 99%

Section: Kinematic Design Of Basic Configurationmentioning

confidence: 99%

“…= M (s), and thus, all three mechanisms are determined, for any step of extension. For the proof of determinacy, please refer to (11), (12), and (13) in the appendix.…”

Section: E Expanding the Fomentioning

confidence: 99%

Section: Controlmentioning

confidence: 99%

See 2 more Smart Citations

The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface

Klare

Peer

2015

IEEE/ASME Trans. Mechatron.

Self Cite

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“…On the other hand, a high damping λ S will avoid the fulfillment of the shape task and consequently lead to potentially large shape errors e S . In [14], we proposed the damping factor of the shape task to be dependent on the error resulting from the violation of constraints. We extend this approach by a dependence of λ S on the two factors B 1 and B 2…”

Section: Joint Limits and Singularitiesmentioning

confidence: 99%

Haptic Rendering of Compliant Shapes

Klare

Peer

2015

IEEE Trans. Robot.

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Dynamically controlling the shape of an object by means of a 3-D shape interface offers many new opportunities in the fields of virtual reality and design as direct exploration of objects becomes feasible. Using a parallel kinematics as 3-D shape interface comes with features such as high stiffness and speed, but requires a series of points to be controlled simultaneously and loop constraints to be met. In this paper we present an approach of controlling the shape of a 3-D parallel kinematics. Shape, loop constraints, and constraints resulting from the user interaction are considered in the form of a hierarchical framework and joint limitations are taken into account. Two alternative control modes for stiff and compliant objects are presented. Implicit surfaces as well as polygon sets represent the input for the virtual shape to be rendered. Results show that the calculation of the inverse kinematics can be achieved with a sampling rate of 1 kHz, independent of the representation of the shape as implicit surface or polygonal set, guaranteeing a sufficiently high sampling rate typical for haptic devices.

show abstract

Inverse kinematics for shape rendering interfaces

Cited by 2 publications

References 9 publications

The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface

The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface

Haptic Rendering of Compliant Shapes

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