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P.Arcara, C.Melchiorri
"3D Position Measurement Based on Force Sensors for a One-Wire Haptic Interface"
 
Type Conference
Author(s) P.Arcara, C.Melchiorri
Title 3D Position Measurement Based on Force Sensors for a One-Wire Haptic Interface
Editor Proc. IMTC 1999, Venice, I, Mag.24-26, 1999
Keywords Haptic interface, videt project, defective systems, force sensors
Abstract
The sensorial system of an haptic interface based on a single actuated wire is presented and discussed. Main characteristics of this device are that: a) it consists of a single wire properly connected to a finger of the operator, and controlled in such a way to allow interaction with virtual surfaces; b) the position of the end-point is computed on the basis of force measurement. In fact, in this haptic interface the measurement of the position in the 3-dimensional space is intrinsically connected to the force applied to the wire. In this paper, these points are addressed, illustrating the procedure for the determination of the interface end point position in 3D space, starting from force measurement. Moreover, problems with sensor measures due to friction and noise, and their correlation with position computation are discussed. Finally, laboratory experiments are presented.
Document 429c.Document.pdf (531052 bytes)
Year 1999


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