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Haptic interaction with virtual objects (2000)

Fasse, Ernest D. ; Hogan, Neville ; Kay, Bruce A. ; [et al.]

Springer

Biological cybernetics 82 (2000), S. 69-83

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ISSN: 1432-0770

Source: Springer Online Journal Archives 1860-2000

Topics: Biology , Computer Science , Physics

Notes: Abstract. This paper considers interaction of the human arm with “virtual” objects simulated mechanically by a planar robot. Haptic perception of spatial properties of objects is distorted. It is reasonable to expect that it may be distorted in a geometrically consistent way. Three experiments were performed to quantify perceptual distortion of length, angle and orientation. We found that spatial perception is geometrically inconsistent across these perceptual tasks. Given that spatial perception is distorted, it is plausible that motor behavior may be distorted in a way consistent with perceptual distortion. In a fourth experiment, subjects were asked to draw circles. The results were geometrically inconsistent with those of the length perception experiment. Interestingly, although the results were inconsistent (statistically different), this difference was not strong (the relative distortion between the observed distributions was small). Some computational implications of this research for haptic perception and motor planning are discussed.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1007/PL00007962

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Electronic Resource

Spatial Compliance Modeling Using a Quaternion-Based Potential Function Method (2000)

Zhang, Shilong ; Fasse, Ernest D.

Springer

Multibody system dynamics 4 (2000), S. 75-101

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ISSN: 1573-272X

Keywords: flexible multibody dynamics ; spatial compliance ; flexural joints ; quaternions ; spatial elasticity

Source: Springer Online Journal Archives 1860-2000

Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics

Notes: Abstract This paper looks at the modeling of elastically coupled rigidbodies. The elastic deformation is assumed to be localized, which is aparticularly valid assumption for flexural joints. A generic, lumpedparameter, Euclidean geometric, potential function based approach ispresented using quaternion calculus. The potential functions are similarto the functions presented in the spatial compliance control literature.Rigid body displacements are represented using a combination ofCartesian coordinates and quaternions. To demonstrate the utility of theproposed methods for computer analysis, a nontrivial example isconsidered. The system consists of two rigid bodies coupled by anasymmetric flexure incorporating crossed leaf springs. While thecompliant constitutive equations are well defined for arbitrary rigidbody displacements, it is only claimed that the model is accurate forsmall displacements.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1023/A:1009895915332

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