Static force rendering performance of two commercial haptic systems

Fabio Tatti, Netta Gurari, Gabriel Baud-Bovy*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The performance of a haptic device generally varies across its workspace. This work measures the force rendering accuracy and maximum force output rendering capabilities of two commercial devices – the Falcon and Omega devices – in six directions at 46 and 49 set locations, respectively, in the mechanical workspace. The results are compared to several theoretical measures of performance based on force ellipsoids. Findings quantify the differences in rendering capability across the tested locations, and show that this variability can be mostly explained by the highly nonlinear nature of the Jacobian.

Original languageEnglish (US)
Title of host publicationHaptics
Subtitle of host publicationNeuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings
EditorsChristian Duriez, Christian Duriez, Malika Auvray, Malika Auvray
PublisherSpringer Verlag
Pages342-350
Number of pages9
ISBN (Electronic)9783662441923
DOIs
Publication statusPublished - Jan 1 2014
Event9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014 - Versailles, France
Duration: Jun 24 2014Jun 26 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8618
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014
CountryFrance
CityVersailles
Period6/24/146/26/14

    Fingerprint

Keywords

  • Haptic device
  • Rendering capability
  • Static force

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Tatti, F., Gurari, N., & Baud-Bovy, G. (2014). Static force rendering performance of two commercial haptic systems. In C. Duriez, C. Duriez, M. Auvray, & M. Auvray (Eds.), Haptics: Neuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings (pp. 342-350). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8618). Springer Verlag. https://doi.org/10.1007/978-3-662-44193-0_43