TY - GEN
T1 - Force flow between human and object in virtual world
AU - Kuni, Y.
AU - Buss, M.
AU - Hashimoto, H.
N1 - Publisher Copyright:
© 1993 IEEE.
PY - 1993
Y1 - 1993
N2 - In this paper we propose a dynamic force simulator (DFS) for force feedback in human-machine systems. The DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with objects in a virtual reality and aims at the human skill acquisition as a first step of the previously proposed intelligent assisting system (IAS). After derivation of the kinematic and force relations between hand and object space we propose a method of realizing desired feedback forces to the human operator. Interaction with the DFS allows the calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed.
AB - In this paper we propose a dynamic force simulator (DFS) for force feedback in human-machine systems. The DFS simulates object dynamics, contact model and friction characteristics of the human hand interacting with objects in a virtual reality and aims at the human skill acquisition as a first step of the previously proposed intelligent assisting system (IAS). After derivation of the kinematic and force relations between hand and object space we propose a method of realizing desired feedback forces to the human operator. Interaction with the DFS allows the calculation and feedback of appropriate forces to the force controlled actuators of the sensor glove we have developed.
UR - http://www.scopus.com/inward/record.url?scp=85064614094&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.1993.367719
DO - 10.1109/ROMAN.1993.367719
M3 - Conference contribution
AN - SCOPUS:85064614094
T3 - Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
SP - 216
EP - 219
BT - Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Workshop on Robot and Human Communication, RO-MAN 1993
Y2 - 3 November 1993 through 5 November 1993
ER -