A Contact Point Intermediate Representation for 6-DOF Haptic Interaction With Dynamic Simulations

2000 ◽  
Author(s):  
Peter J. Berkelman ◽  
Ralph L. Hollis
Keyword(s):  
Physical Simulation ◽  
Contact Point ◽  
Haptic Interface ◽  
Intermediate Representation ◽  
Dynamic Simulations ◽  
Orientation Data ◽  
Time Dynamic ◽  
Virtual Coupling ◽  
Update Rate ◽  
Interface Device

Abstract A new method for integrating a haptic interface device with 3-D dynamic simulations has been implemented which minimizes effects caused by the limited update rate of the simulation and unpredictable communication delays. The new contact point intermediate representation method is compared with a previously implemented method of virtual coupling. Both methods were applied to a recently developed 6 DOF haptic interface device based on Lorentz magnetic levitation connected with a real-time dynamic physical simulation environment. With virtual coupling, the position and orientation data from the interface device and the simulated tool each act as impedance control setpoints for the other, with error and velocity feedback acting as virtual coupling between the two systems. The simple feedback coupling enables the overall stiffness and stability of the system to be tuned easily. In the contact point intermediate representation integration method, the haptic device controller uses additional contact point position and direction information from the simulation to react to user motions by changing the device impedance appropriately at the faster update rate of the controller rather than at the slower simulation rate. The contact point intermediate representation provides a crisper, more responsive feeling than virtual coupling during interaction but is not as easily stabilized. Experimental data from the virtual coupling and a modified contact point intermediate representation implementation are presented.

RTCONTACT: An Efficient Wheel-Rail Contact Algorithm for Real-Time Dynamic Simulations

2012 ◽  
Author(s):  
N. Bosso ◽  
A. Gugliotta ◽  
N. Zampieri
Keyword(s):  
Real Time ◽  
Computational Efficiency ◽  
Simulation Models ◽  
Experimental Tests ◽  
Contact Forces ◽  
Dynamic Simulations ◽  
Time Dynamic ◽  
Contact Algorithm ◽  
Complex Simulation ◽  
Precise Representation

Determination of contact forces exchanged between wheel and rail is one of the most important topics in railway dynamics. Recent studies are oriented to improve the existing contact methods in terms of computational efficiency on one side and on the other side to develop more complex and precise representation of the contact problem. This work shows some new results of the contact code developed at Politecnico di Torino identified as RTCONTACT; this code, which is an improvement of the CONPOL algorithm, is the result of long term activities, early versions were used in conjunction with MBS codes or in Matlab® environment to simulate vehicle behaviour. The code has been improved also using experimental tests performed on a scaled roller-rig. More recently the contact model was improved in order to obtain a higher computational efficiency that is a required for the use inside of a Real Time process. Benefit of a Real Time contact algorithm is the possibility to use complex simulation models in diagnostic or control systems in order to improve their performances. This work shows several comparisons of the RTCONTACT contact code respect commercial codes, standards and benchmark results.

scholarly journals Haptic Interface Device Using Cable Tension Based on Ultrasonic Phased Array

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 162880-162891
Author(s):  
Liqiang Fan ◽  
Aiguo Song ◽  
Haochen Zhang
Keyword(s):  
Phased Array ◽  
Haptic Interface ◽  
Cable Tension ◽  
Ultrasonic Phased Array ◽  
Interface Device

A Fingertip Haptic Display for Improving Curvature Discrimination

2008 ◽  
Vol 17 (6) ◽  
pp. 550-561 ◽  
Author(s):  
A. Frisoli ◽  
M. Solazzi ◽  
F. Salsedo ◽  
M. Bergamasco
Keyword(s):  
Human Performance ◽  
Haptic Perception ◽  
Contact Point ◽  
Tangent Plane ◽  
Haptic Interface ◽  
Haptic Display ◽  
Haptic Information ◽  
Cutaneous Mechanoreceptors ◽  
Kinesthetic Feedback ◽  
Stimulation Of

This paper presents a novel haptic device providing both kinesthetic and cutaneous cues informative of shape geometry at the contact point. The system is composed of a supporting kinesthetic haptic interface and an innovative fingertip haptic display that can instantaneously orient a small plate along the tangent plane at the contact point with a virtual shape and bring it in contact with the fingertip. We show how this local augmentation of displayed haptic information can improve human performance in shape exploration, by assessing perception thresholds in curvature discrimination. When kinesthetic feedback was enriched with cutaneous cues, we found a significantly lower threshold for curvature discrimination (1.51 ± 0.2 m-1 vs. 2.62 ± 0.61 m-1, p < .05) for stimuli constituted of spheres with curvature ranging in the interval from 4–6 m-1. This confirms the importance in haptic perception of the stimulation of cutaneous mechanoreceptors at the fingertip.

scholarly journals Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force

2017 ◽  
Vol 6 (2) ◽  
pp. 151-159 ◽  
Author(s):  
Hiroyuki Kitamura ◽  
Sho Sakaino ◽  
Toshiaki Tsuji
Keyword(s):  
Contact Point ◽  
Haptic Interface ◽  
Point Calculation
Sign in / Sign up

Export Citation Format

Share Document