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- Title
A reconfigurable, tendon-based haptic interface for research into human-environment interactions.
- Authors
von Zitzewitz, Joachim; Morger, André; Rauter, Georg; Marchal-Crespo, Laura; Crivelli, Francesco; Wyss, Dario; Bruckmann, Tobias; Riener, Robert
- Abstract
Human reaction to external stimuli can be investigated in a comprehensive way by using a versatile virtual-reality setup involving multiple display technologies. It is apparent that versatility remains a main challenge when human reactions are examined through the use of haptic interfaces as the interfaces must be able to cope with the entire range of diverse movements and forces/torques a human subject produces. To address the versatility challenge, we have developed a large-scale reconfigurable tendon-based haptic interface which can be adapted to a large variety of task dynamics and is integrated into a Cave Automatic Virtual Environment (CAVE). To prove the versatility of the haptic interface, two tasks, incorporating once the force and once the velocity extrema of a human subject's extremities, were implemented: a simulator with 3-DOF highly dynamic force feedback and a 3-DOF setup optimized to perform dynamic movements. In addition, a 6-DOF platform capable of lifting a human subject off the ground was realized. For these three applications, a position controller was implemented, adapted to each task, and tested. In the controller tests with highly different, task-specific trajectories, the three robot configurations fulfilled the demands on the application-specific accuracy which illustrates and confirms the versatility of the developed haptic interface.
- Subjects
RECONFIGURABLE robots; HAPTIC devices; HUMAN ecology; VIRTUAL reality; DYNAMICAL systems; ROBOTIC trajectory control; PARALLEL robots
- Publication
Robotica, 2013, Vol 31, Issue 3, p441
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S026357471200046X