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Workspace analysis for haptic feedback manipulator in virtual cockpit system
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China.ORCID iD: 0000-0003-2474-7451
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China.
2018 (English)In: Virtual Reality, ISSN 1359-4338, E-ISSN 1434-9957, Vol. 22, no 4, p. 321-338Article in journal (Refereed) Published
Abstract [en]

To obtain natural space experience of haptic interaction for users in virtual cockpit systems (VCS), a haptic feedback system and a workspace analysis framework for haptic feedback manipulator (HFM) are presented in this paper. Firstly, improving the classical three-dimensional workspace obtained by the Monte Carlo method, a novel workspace representation method, oriented workspace, is presented, which can indicate both the position and the orientation of the end-effector. Then, aimed at the characters of HFMs, the oriented workspace is divided into the effective workspace and the prohibited area by extracting the control panel area. At last, the effective workspace volume and the control panel area are calculated by the double-directed extremum method, with the accuracy improved by repeatedly adding and extracting boundary points. By simulation, the area in which interactions between the manipulator and users hand performed is determined and accordingly the effective workspace along with its boundary and volume are obtained in a relative high precision, which lay a basis for haptic interaction in VCS.

Place, publisher, year, edition, pages
Springer, 2018. Vol. 22, no 4, p. 321-338
Keywords [en]
Virtual cockpit system (VCS), Haptic feedback, Workspace division, The Monte Carlo method, Boundary
National Category
Engineering and Technology Robotics
Identifiers
URN: urn:nbn:se:oru:diva-77199DOI: 10.1007/s10055-017-0327-yISI: 000446076600005Scopus ID: 2-s2.0-85041201707OAI: oai:DiVA.org:oru-77199DiVA, id: diva2:1360146
Available from: 2019-10-11 Created: 2019-10-11 Last updated: 2019-10-16Bibliographically approved

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Zhang, Shiyu

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf