Expanding the usable workspace of a haptic device by placing it on a moving base

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2012-01-01
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Garlington, Isaac
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Judy M. Vance
Greg R. Luecke
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Mechanical Engineering
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The goal of this research is to expand the reachable workspace of a haptic device when used in a projection screen virtual environment. The proposed method includes supplementing the haptic device with a redundant degree of freedom to provide motion of the base. The key research challenge is to develop controls for the mobile base that will keep the haptic end-effector in the usable haptic workspace at all times. An experimental set up consisting of an Omni haptic device and a XY motorized table was used in the development of the control algorithms. Tests were conducted which demonstrate that the force felt by the user when touching a virtual wall remains constant even when the mobile base is moving to re-center the haptic device in the usable haptic workspace. 

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Sun Jan 01 00:00:00 UTC 2012