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• [P1120] Compensating Device Inertia for 6-DOF Haptic Rendering
  Author(s): Jilin Zhou, Francois Malric, Emil M. Petriu, Nicolas D. Georganas
  
  

  Abstract
  In this paper, the importance of the user's primary holding pivot point on the end effector of a haptic interface is discussed. Both theoretical analysis and experimental results demonstrate that this holding pivot point is critical for the correct perception of the haptic properties assigned to the virtual objects. We also study the physical inertia effects of the end effector on the faithful rendering of stiffness properties assigned to simulated virtual objects. To the best of our knowledge, no such consideration of holding point and device inertia has so far been made for works in 6-DOF haptic rendering. We have instrumented the end effector of a haptic interface with a membrane potentiometer to measure the user's primary holding pivot point in real-time. Accordingly, a preliminary adaptive feedback method is developed to render the appropriate forces/torques given measurements of the user's primary holding point to compensate for the effects of the end effector's inertia.

  
   

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