Avizzano Carlo Alberto, Satler Massimo, Ruffaldi Emanuele
IEEE Trans Haptics. 2014 Apr-Jun;7(2):110-20. doi: 10.1109/TOH.2014.2310462.
We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.
我们描述了一种采用轮子进行力渲染的新型移动触觉界面的设计。该界面由一个全向Killough型平台组成，通过不同的控制方式提供两自由度力反馈。该系统自主执行用于定位和力渲染的传感器融合。本文解释了在功能方面、控制设计、机械和电子解决方案方面的相关选择。报告了力反馈特性的实验结果。
