P. Berkelman and R. Hollis. Interacting with virtual environments using a magnetic levitation haptic interface. In Proceedings of the 1995.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....tactile sensors have been developed in the past ten and more years. Some good surveys of tactile sens ing technologies were provided by Nicholls et al..l [22] and Howe [9] Several researchers have used tactile feedback for determining object shapes or force prim itives from users demonstration [1, 3, 17, 29]. Most of these works are trying to map the extracted force characteristics directly to robot actions [25, 8, 21] 2 PbD System for Manipulation Tasks Within this section the cycle of our developed PbD system is briefly presented. An system overview is given in figure 2. It is theoretically ....

P. Berkelman and R. Hollis. Interacting with virtual environments using a magnetic levitation haptic interface. In Proceedings of the 1995.

....many tactile sensors have been developed in the past ten and more years. Some good surveys of tactile sensing technologies were provided by Nicholls et al..l [21] and Howe[13] Several researchers have used tactile feedback for determining object shapes or force primitives from users demonstration [1, 2, 17, 31]. Most of these works are trying to map the extracted force characteristics directly to robot actions [25,12,20] 3 Experimental setup and prior work Focusing service tasks in households and workshop environments, for PbD information about grasping states, movements, forces and objects is ....

P. Berkelman and R. Hollis. Interacting with virtual environments using a magnetic levitation haptic interface. In Proceedings of the 1995.

....tactile sensors have been developed in the past ten and more years. Some good surveys of tactile sens ing technologies were provided by Nicholls et al..l [22] and Howe [9] Several researchers have used tactile feedback for determining object shapes or force prim itives from users demonstration [1, 3, 17, 29]. Most of these works are trying to map the extracted force characteristics directly to robot actions [25, 8, 21] 2 PbD System for Manipulation Tasks Within this section the cycle of our developed PbD system is briefly presented. An system overview is given in figure 2. It is theoretically ....

P. Berkelman and R. Hollis. Interacting with virtual environments using a magnetic levitation haptic interface. In Proceedings of the 1995.

....realistic, computer simulated environments is based on algorithms performing fast collision detection between multiple, moving virtual objects. Calculation of virtual contact forces permits the implementation of force display techniques using specially designed or generalpurpose haptic interfaces [3], 10] The main difficulty of such applications is the real time constraints that are imposed. The human operator must interact with a virtual scene in a natural way, moving objects and generating collisions between them. These collisions must be detected and interaction forces computed fast ....

P.J.Berkelman, R.L.Hollis and S.E.Salcudean, "Interacting with virtual Environments using a Magnetic Levitation Haptic Interface", Proceedings of the 1995 IEEE International Conference on Intelligent Robots and Systems (IROS'95), Vol.1, 117122, Pittsburgh, PA, August 1995.

....device was the Magic Wrist [24] developed at IBM T.J. Watson Research Center. This device was originally designed as a fine motion robot wrist for coarse fine manipulation and later adapted for use as a haptic interface for mechanism emulation, solid contacts, and texture and friction experiments [26]. The magnet assemblies in this device are arranged in inner and outer rings and the flotor coils are embedded in the sides of a hexagonal box. Three position sensing photodiodes on the inside of the flotor and three narrow beam LEDs on the stator are used for position sensing. Its force, motion, ....

....the second part of my thesis work to build an integrated system to interact with realistic dynamic simulated environments using the described haptic interface device as a virtual tool. The previous implementations of magnetic levitation haptic interaction with simulated environments described in [26] and [27] were with a simple, limited static environment, in which only the wrist flotor (or haptic tool in the virtual environment) moved while the environment remained stationary. Although haptic interaction with a static environment is useful in itself to enable the user to feel the shape and ....

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P. J. Berkelman, R. L. Hollis, and S. E. Salcudean, "Interacting with virtual environments using a magnetic levitation haptic interface," in Int'l Conf. on Intelligent Robots and Systems, (Pittsburgh), August 1995.

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P. J. Berkelman, R. L. Hollis, and S. E. Salcudean, "Interacting with virtual environments using a magnetic levitation haptic interface," in Int'l Conf. on Intelligent Robots and Systems, (Pittsburgh), August 1995.

....5] The new device described here has a larger range of motion and was designed specifically for haptic interaction instead of as a fine motion robot wrist. Haptic interaction for solid contacts and friction has been developed using previous magnetic levitation devices by Salcudean and Berkelman [6, 7]. Colgate et al. first proposed using a virtual coupling between a simulation and a haptic display to simplify design and ensure stability [8] and Adams and Hannaford generalized the idea and analyzed its stability conditions [9] The use of interpolated, locally updated intermediate ....

P. J. Berkelman, R. L. Hollis, and S. E. Salcudean, "Interacting with virtual environments using a magnetic levitation haptic interface," in Int'l Conf. on Intelligent Robots and Systems, (Pittsburgh) , August 1995.

.... DEMONSTRATION DEVICE Previously, a fine motion robot wrist using magnetic levitation was adapted in our laboratory for use as a haptic interface with simple simulated dynamic environments such as slider and rotor mechanisms, hard polygonal contacts, dry and viscous friction, and textured surfaces [6]. This device has a position bandwidth of over 50 Hz with a 1000 Hz control cycle and position resolution high enough to enable surprisingly realistic haptic interaction involving hard polygonal contacts, friction, and surface texture. The robot wrist is controlled by a realtime VMEbus system with ....

P. J. Berkelman, R. L. Hollis, and S. E. Salcudean, "Interacting with virtual environments using a magnetic levitation haptic interface," in Int'l Conf. on Intelligent Robots and Systems, (Pittsburgh), pp. 2296--2301, August 1995.

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Berkelman, P. and R. Hollis, "Interacting with Virtual Environments Using a Magnetic Levitation Haptic Interface," Proceedings of the 1995 IEEE/RSJ Intelligent Robots and Systems Conference, Pittsburgh, PA, Aug, 1995.

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