Design, control, and simulation strategies for haptic interfaces
Abstract/Contents
- Abstract
- Haptics is an emerging technology that involves transmitting information through the sense of touch. This hands-on form of interaction is achieved by using small actuated interfaces called haptic devices that apply forces, vibrations, and/or motions to the user. This work explores three different areas of haptics: hardware design, device control, and dynamic simulation. First, we explore the limitations of traditional haptic devices that rely on motors for actuation, and propose a new hybrid actuation design that is safer and more energy efficient. This new hybrid design addresses safety concerns by combining the use of brakes, springs, and mini-motors. The new design also overcomes many of the force rendering limitations of passive haptic displays. Second, we introduce a new control strategy to effectively map the physical workspace of haptic devices inside virtual simulations. The proposed technique relies on progressively relocating the physical workspace of the device mapped inside of the virtual environment towards the operator's area of activity without disturbing his or her tactile perception of the environment. This approach is based on the observation that humans are greatly influenced by what they perceive visually and do not notice small deviations of their hand, unless that small deviation has a corresponding visual component. Finally, we propose a unified framework for the real-time dynamic simulation and contact resolution of rigid articulated bodies. This work builds on previous developments in the field of dynamic simulation, collision detection, contact resolution, and operational space control. However, the key to efficiency and real-time performance is a new parallel implementation of our collision detection and contact resolution algorithm which decomposes the problem into tasks that can be concurrently executed.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2014 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Conti, Francois Lawrence |
|---|---|
| Associated with | Stanford University, Department of Computer Science. |
| Primary advisor | Khatib, Oussama |
| Thesis advisor | Khatib, Oussama |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Salisbury, J. Kenneth |
| Advisor | Cutkosky, Mark R |
| Advisor | Salisbury, J. Kenneth |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Francois Lawrence Conti. |
|---|---|
| Note | Submitted to the Department of Computer Science. |
| Thesis | Ph.D. Stanford University 2014 |
| Location | electronic resource |
Access conditions
- Copyright
- © 2014 by Francois Lawrence Conti
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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