Abstract
Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6-DOF haptic rendering algorithm and tested on an under-actuated haptic device in a user study. We found that by applying our torque simulation system, the torque perception increases significantly and that 6/3-DOF devices can be used in complex tasks involving 6-DOF interactions.
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Acknowledgments
The work was supported by the GA UK 2062214 and SVV-2014-260103 grants. Models of teeth and the ear used in the user study were downloaded from animium.com and 3dmodelfree.com.
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Kadleček, P., Kmoch, P., Křivánek, J. (2014). Haptic Rendering for Under-Actuated 6/3-DOF Haptic Devices. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8619. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44196-1_9
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DOI: https://doi.org/10.1007/978-3-662-44196-1_9
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