Control of a mobile haptic interface

Ulrich Unterhinninghofen, Thomas Schauß, Martin Buss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages2085-2090
Number of pages6
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA
Period19/05/0823/05/08

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