A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays

Oscar De La Cruz Fierro, Wael Bachta, Florian Gosselin, Guillaume Morel

2017

Abstract

Encounter-type haptic interfaces are used to interact physically with virtual environments. They allow controlling the position of an avatar in the simulation while perceiving the forces applied on it when it interacts with the surrounding objects. Contrary to usual force feedback devices, the interface tracks the real user’s finger without touching it when the user’s finger avatar moves in free space. Only when a contact occurs in the virtual environment, the interface comes in contact with the user to display the mechanical properties of the encountered objects. This way, the device’s behaviour is more natural as simulated contacts really occur in the real world. Existing control laws for such devices exhibit however limitations, especially when contacts occur at high speed. In such cases, the device tends to bounce against the user’s finger, which decreases the realism of the interaction. In this paper, we propose a new control strategy where the interface is first stabilized against the obstacles before the user touches its end-effector. This way, contacts appear more natural, even at high speeds, as confirmed by preliminary user-tests made with an existing 2 DoF encounter type haptic interface at different speeds with the state of the art control law and the novel approach we propose here.

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Paper Citation


in Harvard Style

De La Cruz Fierro O., Bachta W., Gosselin F. and Morel G. (2017). A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 471-480. DOI: 10.5220/0006474704710480


in Bibtex Style

@conference{icinco17,
author={Oscar De La Cruz Fierro and Wael Bachta and Florian Gosselin and Guillaume Morel},
title={A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={471-480},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006474704710480},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays
SN - 978-989-758-264-6
AU - De La Cruz Fierro O.
AU - Bachta W.
AU - Gosselin F.
AU - Morel G.
PY - 2017
SP - 471
EP - 480
DO - 10.5220/0006474704710480