Issues in the haptic display of tool use

J. Edward Colgate*, Michael C. Stanley, J. Michael Brown

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

285 Scopus citations

Abstract

Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described.

Original languageEnglish (US)
Pages140-145
Number of pages6
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: Aug 5 1995Aug 9 1995

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period8/5/958/9/95

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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