幾何学的力覚提示アルゴリズムの力学的解釈とインピーダンス型およびアドミッタンス型の実装法 [in Japanese] Impedance- and Admittance-Type Implementation of Geometric Haptic Rendering Algorithms Based on Mechanistic Interpretation [in Japanese]
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Geometric haptic rendering algorithms, in which virtual proxy positions are determined according to input device positions, are widely used for impedance-type haptic rendering. Such methods are intuitively simple because they reduce mechanistic problems of determining reaction forces into geometric problems of updating proxy positions. Aiming to extend the scope of application of geometric haptic algorithms, this paper presents a mechanistic interpretation of geometric algorithms and proposes two techniques. One is a technique to combine geometric algorithms and viscous damping in impedance-type haptic rendering. The other is a technique to utilize geometric algorithms in admittance-type haptic rendering. The results of implementation experiments are presented.
JRSJ 25(2), 314-323, 2007-03-01
The Robotics Society of Japan