文献类型：期刊文献

英文题名：Design and Rapid Construction of a Cost-Effective Virtual Haptic Device

作者：Wang, Fei[1];Qian, Zhiqin[1];Lin, Yingzi[2];Zhang, Wenjun[3,4]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Complex & Intelligent Syst Res Lab, Shanghai 200237, Peoples R China;[2]Northeastern Univ, Dept Mech & Ind Engn, Boston, MA 02115 USA;[3]Shanghai Univ, Sch Mechatron & Automat Engn, Shanghai 200444, Peoples R China;[4]Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A2, Canada

年份：2021

卷号：26

期号：1

起止页码：66

外文期刊名：IEEE-ASME TRANSACTIONS ON MECHATRONICS

收录：;EI(收录号：20202608862789);WOS:【SCI-EXPANDED(收录号:WOS:000619402600007)】；

基金：This work was supported by the National Natural Science Foundation of China under Grant 51375166 and Production University Research Project of Minhang District Science and Technology Commission, Shanghai, China under Grant 2019MHC107.

语种：英文

外文关键词：Haptic interfaces; Robots; Rendering (computer graphics); Visualization; Force; Software; Phantoms; Force feedback; haptic devices; haptic technology; microcontroller; virtual environment

摘要：Over the past few decades, the rapid development of haptic technology has made it widely used in the fields of virtual reality, video games, rehabilitation, education, and manufacturing. This article presents a study on the rapid construction of a cost-effective virtual haptic device. In this connection, this article proposed a new design concept called the haptic environment. A whole haptic system is divided into an environment, which consists of all common modules, and a haptic robot. As such, a customized haptic robot can be plugged into the environment to form a haptic system. The environment also contains the adapters that facilitate the accommodation of the customized haptic robot into the environment. To show the effectiveness of this concept, a three-degree-of-freedom robot along with the environment was implemented in this article. Experiments were conducted to understand the performance of the prototype of the haptic system, as developed, and the results show that the developed haptic system has the graphical refresh frequency of about 60 Hz and the haptic rendering frequency of about 500 Hz, nearly three times faster than the Phantom Omni device commercially available. The contribution of the study reported in this article includes the demonstration of the feasibility of the rapid construction of a virtual haptic device and the provision of a cost-effective haptic device for applications in the robotic rehabilitation and human assistive systems.