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Rendering of Constraints with Underactuated Haptic Devices
IEEE Transactions on Haptics ( IF 2.9 ) Pub Date : 2020-10-01 , DOI: 10.1109/toh.2020.2981932
Daniel Lobo , Miguel A. Otaduy

Several previous works have studied the application of proxy-based rendering algorithms to underactuated haptic devices. However, all these works make oversimplifying assumptions about the configuration of the haptic device, and they ignore the user's intent. In this article, we lift those assumptions, and we carry out a theoretical study that unveils the existence of unnatural ghost forces under typical proxy-based rendering. We characterize and quantify those ghost forces. In addition, we design a novel rendering strategy, with anisotropic coupling between the device and the proxy. With this strategy, the forces rendered by an underactuated device are a best match of the forces rendered by a fully actuated device. We have demonstrated our findings on synthetic experiments and a simple real-world experiment.

中文翻译:

使用欠驱动触觉设备渲染约束

之前的几项工作研究了基于代理的渲染算法在欠驱动触觉设备中的应用。然而,所有这些工作都对触觉设备的配置做出了过于简单的假设,并且忽略了用户的意图。在本文中,我们取消了这些假设,并进行了一项理论研究,揭示了在典型的基于代理的渲染下存在不自然的幽灵力量。我们表征和量化这些幽灵力量。此外,我们设计了一种新颖的渲染策略,在设备和代理之间具有各向异性耦合。使用此策略,欠驱动装置所产生的力与完全驱动装置所产生的力最佳匹配。我们已经证明了我们在合成实验和一个简单的现实世界实验中的发现。
更新日期:2020-10-01
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