TY - GEN
T1 - Incorporating geometric algorithms in impedance- And admittance-type haptic rendering
AU - Kikuuwe, Ryo
AU - Fujimoto, Hideo
PY - 2007/8/28
Y1 - 2007/8/28
N2 - Geometric (proxy-based) haptic rendering algorithms are widely used in impedance-type haptic rendering. Such methods are useful for developing complex virtual environment because they reduce mechanistic problems of determining reaction forces into geometric problems of updating proxy positions. This paper aims to apply geometric algorithms to wider variations of haptic rendering systems. First, we present a method to include viscous damping in impedance-type haptic rendering. Second, we propose a method to utilize geometric algorithms in admittance-type haptic rendering. The results of implementation experiments are presented.
AB - Geometric (proxy-based) haptic rendering algorithms are widely used in impedance-type haptic rendering. Such methods are useful for developing complex virtual environment because they reduce mechanistic problems of determining reaction forces into geometric problems of updating proxy positions. This paper aims to apply geometric algorithms to wider variations of haptic rendering systems. First, we present a method to include viscous damping in impedance-type haptic rendering. Second, we propose a method to utilize geometric algorithms in admittance-type haptic rendering. The results of implementation experiments are presented.
UR - http://www.scopus.com/inward/record.url?scp=34548128373&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34548128373&partnerID=8YFLogxK
U2 - 10.1109/WHC.2007.75
DO - 10.1109/WHC.2007.75
M3 - Conference contribution
AN - SCOPUS:34548128373
SN - 0769527388
SN - 9780769527383
T3 - Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007
SP - 249
EP - 254
BT - Proceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007
T2 - 2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07
Y2 - 22 March 2007 through 24 March 2007
ER -