Tension based 7-DOF force feedback device: SPIDAR-G
Tension based 7-DOF force feedback device: SPIDAR-G
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基于张力的七自由度力反馈装置：SPIDAR-G
DOI：
10.1109/vr.2002.996540
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
Makoto Sato
中科院分区：
文献类型：
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作者：
Seahak Kim;S. Hasegawa;Y. Koike;Makoto Sato
我们展示了一种用于高级 VR 应用的新型直观力反馈设备。该设备的力反馈基于张力，具有 7 个自由度 (DOF)； 3 个自由度用于平移，3 个自由度用于旋转，1 个自由度用于抓取。 SPIDAR-G（带握把的人工现实空间接口设备）将允许用户通过操纵位于设备框架中心的两个半球形握把来与虚拟对象自然地交互。我们展示了如何连接握把的每个顶点和框架的每个末端之间的绳子，以实现力反馈。此外，还将讨论使用连接到框架上的电机和编码器的 8 根绳子的长度来计算平移、方向和抓取的方法。 SPIDAR-G 具有平滑的力反馈、最小化的惯性、无间隙、可扩展性和安全性。这些功能归因于策略性的字符串排列和控制，从而实现稳定的触觉渲染。详细描述了SPIDAR-G的设计和控制，并演示了基于所提出的SPIDAR-G系统的空间图形用户界面系统。实验结果验证了所提出设备的可行性并揭示了其在虚拟现实中的应用。
We demonstrate a new intuitive force feedback device for advanced VR applications. Force feedback for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp. The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G is described in detail and the space graphic user interface system based on the proposed SPIDAR-G system is demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.