Abstract
In this paper, a new haptic interaction is presented where the operator is in contact with the haptic device (HD) only when she/he is in contact with the virtual environment (VE). This is in contrast with traditional haptic systems, where the operator is always in contact with the HD, even if she/he is out of the VE. In this haptic interaction, a visual tracking system is used to track the operator’s finger. When the finger is out of the VE, the HD tracks the finger so that the stylus of the HD keeps a constant distance of about 2 cm from the finger. When the finger gets close to the VE, the stylus slows down and stops upon reaching the VE; it then waits until the operator touches the stylus and feels the VE. Some advantages of this haptic interaction include more immersivity, higher margins of stability, bigger workspace, smaller actuators and, more feasible impact simulation. The speed of the HD at the onset of contacting the VE plays a significant role in the stability of the haptic system. The lower the collision speed, the bigger the maximum stiffness of the VE will be. The stability improvement of this presented haptic interaction is compared with the traditional one for both low and medium collision speeds for several time delays. For low collision speeds, theoretical and experimental results show an increase of 72% and 40% in the maximum stiffness of the VE, respectively. Similarly, for medium collision speeds, 44% and 28% increase in the maximum stiffness of the VE are achieved for theoretical and experimental results, respectively.
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Mashayekhi, A., Nahvi, A., Meghdari, A. et al. A new haptic interaction with a visual tracker: implementation and stability analysis. Int J Intell Robot Appl 5, 37–48 (2021). https://doi.org/10.1007/s41315-020-00156-x
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DOI: https://doi.org/10.1007/s41315-020-00156-x