TY - GEN
T1 - Control of a mobile haptic interface
AU - Unterhinninghofen, Ulrich
AU - Schauß, Thomas
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - The hardware and control concept of a mobile haptic interface is presented. It is intended to provide spatially unrestricted, dual-handed haptic interaction. The device is composed of two haptic displays mounted on an omnidirectional mobile base which is controlled in such a way that the haptic displays are not driven to their workspace limits. A simple algorithm, based on end-effector positions only, and a more sophisticated approach, incorporating also the body position of the operator, are presented and compared. Experimental results show that the latter algorithm performs better in most use cases.
AB - The hardware and control concept of a mobile haptic interface is presented. It is intended to provide spatially unrestricted, dual-handed haptic interaction. The device is composed of two haptic displays mounted on an omnidirectional mobile base which is controlled in such a way that the haptic displays are not driven to their workspace limits. A simple algorithm, based on end-effector positions only, and a more sophisticated approach, incorporating also the body position of the operator, are presented and compared. Experimental results show that the latter algorithm performs better in most use cases.
UR - http://www.scopus.com/inward/record.url?scp=51649119905&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543514
DO - 10.1109/ROBOT.2008.4543514
M3 - Conference contribution
AN - SCOPUS:51649119905
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2085
EP - 2090
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -