Abstract
Haptic devices have been applied in interactive operation to perform contact tasks. To explore the haptic perception characteristics of typical push-pull and rotation operation, an experimental system was built by incorporating a three degrees of freedom (3-DOF) haptic device and the virtual environment. In this system, the haptic device is used to provide motion commands to control the avatar in the virtual environment and to exert haptic feedback on the human operator generated by three motors. In order to evaluate the main influential factors of interactive system based on haptic devices, ergonomic assessments are designed and experimentally implemented. Preliminary studies on the factors including restoring force, guidance force, speed of the virtual avatar, and the arm length have been conducted. The results are of great significance for the design of a haptic device and haptic interaction system by analyzing the specific requirements of ergonomics.
Highlights
The development of many applications of interactive operation requires flexible haptic master to perform contact tasks
3.1 Force-feedback system based on a haptic device The system consists of the human operator, the haptic device, the virtual environment which integrates with the graphical refresh model, the sampler, the virtual controller, Fig. 4 Schematic diagram of the Virtual reality (VR)-based haptic interaction system environment
4.1 Experimental system The haptic device is mainly used in the field of VR-based interaction to acquire the motion of the operator’s hand and to provide the operator with force feedback
Summary
The development of many applications of interactive operation requires flexible haptic master to perform contact tasks. These tasks include interaction with computer-aided design models, telerobotic surgery, micro/nano-manipulation, undersea salvage, and space telerobotic exploration and maintenance, decontamination, and decommissioning of chemical and nuclear facilities [1, 2]. The execution of these tasks by a human operator is affected by his/her level of perception of the interaction objects [3].
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