A system for the implementation and kinesthetic display of virtual environments

Paul Millman; Michael Stanley; Paul Grafing; J. Edward Colgate

doi:10.1117/12.142127

A system for the implementation and kinesthetic display of virtual environments

Paul Millman, Michael Stanley, Paul Grafing, J. Edward Colgate

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

4 Scopus citations

Abstract

A system for kinesthetic and visual display of virtual environments has been developed which includes a four degree-of-ffeedom, force-controlled manipulandum and a parallel processing architecture for performing realtime environment simulation, manipulandum control and graphics display. The system allows a user to interact with a virtual environment via a virtual hand tool. "Forces" at the handle of the virtual tool are experienced as real forces at the handle of the manipulandum The problem of modeling environments composed of rigid bodies with intermittent contact has been addressed. Dynamic equations for environment simulations are generated and solved in real time by an array of interconnected microprocessors. Additional microprocessors safeguard against dangerous motor accelerations and potentially damaging manipulator configurations.

Original language	English (US)
Pages (from-to)	49-56
Number of pages	8
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	1833
DOIs	https://doi.org/10.1117/12.142127
State	Published - Mar 26 1993
Event	Telemanipulator Technology 1992 - Boston, United States Duration: Nov 16 1992 → …

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

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AB - A system for kinesthetic and visual display of virtual environments has been developed which includes a four degree-of-ffeedom, force-controlled manipulandum and a parallel processing architecture for performing realtime environment simulation, manipulandum control and graphics display. The system allows a user to interact with a virtual environment via a virtual hand tool. "Forces" at the handle of the virtual tool are experienced as real forces at the handle of the manipulandum The problem of modeling environments composed of rigid bodies with intermittent contact has been addressed. Dynamic equations for environment simulations are generated and solved in real time by an array of interconnected microprocessors. Additional microprocessors safeguard against dangerous motor accelerations and potentially damaging manipulator configurations.

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A system for the implementation and kinesthetic display of virtual environments

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