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Issues in Achievement of Haptic Realism

Venkatesh, GS and Sen, Dibakar and Chakrabarti, Amaresh (2008) Issues in Achievement of Haptic Realism. In: International Conference on Trends in Product Life cycle Modeling, Simulation and Synthesis (PLMSS08).

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Official URL: http://cpdm.iisc.ernet.in/~dibakar/main/Research/P...

Abstract

This paper deals with haptic realism related to Kinematic capabilities of the devices used in manipulation of virtual objects in virtual assembly environments and its effect on achieving haptic realism. Haptic realism implies realistic touch sensation. In virtual world all the operations are to be performed in the same way and with same level of accuracy as in the real world .In order to achieve realism there should be a complete mapping of real and virtual world dimensions. Experiments are conducted to know the kinematic capabilities of the device by comparing the dimensions of the object in the real and virtual world. Registered dimensions in the virtual world are found to be approximately 1.5 times that of the real world. Dimensional variations observed were discrepancy due to exoskeleton and discrepancy due to real and virtual hands. Experiments are conducted to know the discrepancy due to exoskeleton and this discrepancy can be taken care of by either at the hardware or software level. A Mathematical model is proposed to know the discrepancy between real and virtual hands. This could not give a fixed value and can not be taken care of by calibration. Experiments are conducted to figure out how much compensation can be given to achieve haptic realism.

Item Type: Conference Paper
Department/Centre: Division of Mechanical Sciences > Centre for Product Design & Manufacturing
Date Deposited: 29 Sep 2011 10:19
Last Modified: 29 Sep 2011 10:19
URI: http://eprints.iisc.ernet.in/id/eprint/40853

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