HapticDrone: An encountered-type kinesthetic haptic interface with controllable force feedback: Example of stiffness and weight rendering
Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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HapticDrone : An encountered-type kinesthetic haptic interface with controllable force feedback: Example of stiffness and weight rendering. / Abdullah, Muhammad; Kim, Minji; Hassan, Waseem; Kuroda, Yoshihiro; Jeon, Seokhee.
IEEE Haptics Symposium, HAPTICS 2018 - Proceedings. ed. / Yon Visell; Katherine J. Kuchenbecker; Gregory J. Gerling. IEEE Computer Society Press, 2018. p. 334-339 (IEEE Haptics Symposium, HAPTICS, Vol. 2018-March).Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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TY - GEN
T1 - HapticDrone
T2 - 2018 IEEE Haptics Symposium, HAPTICS 2018
AU - Abdullah, Muhammad
AU - Kim, Minji
AU - Hassan, Waseem
AU - Kuroda, Yoshihiro
AU - Jeon, Seokhee
N1 - Funding Information: ACKNOWLEDGMENTS This work was supported by the NRF of Korea through the Basic Research program (NRF-2017R1D1A1B03031272). Publisher Copyright: © 2018 IEEE.
PY - 2018/5/9
Y1 - 2018/5/9
N2 - HapticDrone is our new approach to transform a drone into a force-reflecting haptic interface. While our earlier work proved the concept, this paper concretizes it by implementing accurate force control along with effective encountered-type stiffness and weight rendering for 1D interaction as a first step. To this end, generated force is identified with respect to drone's thrust command, allowing a precise control of force. Force control is combined with tracking of drone and hand, turning the HapticDrone into an ideal end-effector for the encountered-type haptics and making the system ready for more sophisticated physics simulation. Stiffness and weight of a virtual object is our first target of the simulation. Conventional stiffness and gravity simulation is merged into the encountered-type position control scheme, allowing a user to feel the softness and weight of an object. We further confirmed the feasibility by proving that the system fulfills the physical performance requirements commonly needed for an encountered-type haptic interface, i.e., force rendering bandwidth, accuracy, and tracking performance.
AB - HapticDrone is our new approach to transform a drone into a force-reflecting haptic interface. While our earlier work proved the concept, this paper concretizes it by implementing accurate force control along with effective encountered-type stiffness and weight rendering for 1D interaction as a first step. To this end, generated force is identified with respect to drone's thrust command, allowing a precise control of force. Force control is combined with tracking of drone and hand, turning the HapticDrone into an ideal end-effector for the encountered-type haptics and making the system ready for more sophisticated physics simulation. Stiffness and weight of a virtual object is our first target of the simulation. Conventional stiffness and gravity simulation is merged into the encountered-type position control scheme, allowing a user to feel the softness and weight of an object. We further confirmed the feasibility by proving that the system fulfills the physical performance requirements commonly needed for an encountered-type haptic interface, i.e., force rendering bandwidth, accuracy, and tracking performance.
UR - http://www.scopus.com/inward/record.url?scp=85047956664&partnerID=8YFLogxK
U2 - 10.1109/HAPTICS.2018.8357197
DO - 10.1109/HAPTICS.2018.8357197
M3 - Article in proceedings
AN - SCOPUS:85047956664
T3 - IEEE Haptics Symposium, HAPTICS
SP - 334
EP - 339
BT - IEEE Haptics Symposium, HAPTICS 2018 - Proceedings
A2 - Visell, Yon
A2 - Kuchenbecker, Katherine J.
A2 - Gerling, Gregory J.
PB - IEEE Computer Society Press
Y2 - 25 March 2018 through 28 March 2018
ER -
ID: 388953414