Fesharakifard, Rasul (2008) Design and manufacturing of a force feedback interface for the human-scale virtual environments. PhD thesis Informatique temps réel, Robotique, Automatique, CAOR- Centre de robotique, ENSMP p.168.
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Abstract
A haptic interface is developed to provide the force feedback in human-scale virtual environments. The interface is composed of a string-based platform and a grasping exoskeleton. The platform comprises 8 strings which are actuated by 8 actuating units. Each actuating unit contains an electrical motor, a rotary encoder and a force sensor. The motor supply the string's tension, while the encoder measures the string's length and the sensor measures its tension. The actuating units have a novel design to improve the pay load and the precision of the interface. The exoskeleton is connected to and actuated by the strings and permits the 5 fingers of a user's hand to accomplish the grasping gesture. The interface provides totally 7 degrees of force feedback for the user in interaction with virtual objects; 3 degrees of translations, 3 degrees of rotation and 1 degree of grasping. The force feedback interface is modelled to calculate the tension distribution in the strings related to the necessary forces and torques. The actuating units could be moved on a cubic frame around the virtual environment. An optimal arrangement for the blocs' positions is obtained to maximise the workspace of the interface. A hybrid control method is also proposed based on the strings' tensions measured by the force sensors. This method leads to resolve the ordinary problems of the string-based interfaces. The desired application of this interface is in haptic interaction with the simulated internal space of automotives. Therefore a visual scene corresponding to this application is developed and the interface is tested by different force feedback cases. The results of the tests demonstrate the practical performance of the interface to provide the proper forces and the movement transparency for the user.
| Item Type: | PhD Thesis (PhD) |
|---|---|
| PhD Supervisor: | Fuchs, Philippe |
| Date: | 21 January 2008 |
| Board of examiners: | Laurgeau, Claude and Bidaud, Philippe and Merlet, Jean-Pierre and Fuchs, Philippe and Gosselin, Florian and Perret, Jérôme |
| Ecole Doctorale: | ED 431 INFORMATION, COMMUNICATION, MODELISATION ET SIMULATION |
| Discipline: | Informatique temps réel, Robotique, Automatique |
| Collection (Fonds): | Mines ParisTech (ENSMP) |
| Institution: | ENSMP |
| Department: | CAOR- Centre de robotique |
| Subjects: | 2. Information and Communication Sciences and Technologies |
| Uncontrolled Keywords: | Virtual reality, Réalité virtuelle, Human-scale virtual environnement, Environnement virtuel à échelle humaine, Immersive room, Salle immersive, Haptic interface, Interface haptique, Force feedback, Retour d'effort, Grasping exoskeleton, Exosqelette de préhension, Virtual grasping, Préhension virtuelle |
| ID Code: | 4216 |
| Deposited By: | Claudine Abauzit |
| Deposited On: | 08 October 2008 |
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