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This paper extends previously proposed memory-based passivity approach (MBPA) to 6 degrees-of-freedom (DOF) haptic interactions. By introducing 6-DOF virtual proxy and virtual object, connected with haptic interaction point (HIP), we can extend MBPA to 6-DOF, including torque vs. orientation passivity. To find a passive relationship between positions vs. force graph, instead of position itself, we...
In this paper, in order to have stable haptic interaction, we present an extension of memory-based passivation approach for 6 degree-of-freedom (DOF) haptic rendering while interacting with high stiffness virtual environment. We introduce a 6-DOF massless virtual proxy which is connected to the moving object on every DOF by a massless spring. Then, unlike the conventional memory based passivation...
In this paper, a novel haptic interface is proposed for general teleoperation of wheeled and tracked vehicle. The new mechanism of the proposed haptic interface shown in Fig. 1 not only allows human operator to easily tele-operate various types of target vehicles including car-like vehicles, mobile robots, tracked vehicles, but also improve the operators' perception of target vehicles' operating status...
This paper presents a novel interface for the intuitive teleoperation of wheeled and tracked vehicles. The key contributions are a new mechanism of proposed interface and matching strategies. The new mechanism not only allows human operator to easily give command to a target vehicle in teleoperation of wheeled and tracked vehicles, but also improve the operators' perception of target vehicle and its...
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