Hostname: page-component-6898cfcb55-kwdml Total loading time: 0 Render date: 2026-11-11T21:54:36.888Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and control of a haptic interactive motion simulator for virtual entertainment systems

Published online by Cambridge University Press:  09 April 2009

M. Karkoub,
M.-G. Her and
J.-M. Chen
M. Karkoub*
Affiliation:
Mechanical Engineering Department, The Petroleum Institute, Abu Dhabi, P.O. Box 2533, UAE
M.-G. Her
Affiliation:
Department of Mechanical Engineering, Tatung University, 40 Chung-Shan North Road, 3rd Sector, Taipei, Taiwan10451
J.-M. Chen
Affiliation:
Department of Mechanical Engineering, Tatung University, 40 Chung-Shan North Road, 3rd Sector, Taipei, Taiwan10451
*
*Corresponding author. E-mail: mkarkoub@pi.ac.ae
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

In this paper, an interactive virtual reality motion simulator is designed and analyzed. The main components of the system include a bilateral control interface, networking, a virtual environment, and a motion simulator. The virtual reality entertainment system uses a virtual environment that enables the operator to feel the actual feedback through a haptic interface as well as the distorted motion from the virtual environment just as s/he would in the real environment. The control scheme for the simulator uses the change in velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator, and the haptic feedback to the operator to maneuver the simulator in the real environment. The stability of the closed-loop system is analyzed based on the Nyquist stability criteria. It is shown that the proposed design for the simulator system works well and the theoretical findings are validated experimentally.

Keywords

Active joystickMotion simulator systemVirtual entertainment system

Information

Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010, pp. 47 - 56
Copyright
Copyright © Cambridge University Press 2009

References

1.Basdogan, C., Sedef, M., Harders, M. and Wesarg, S., “VR-based simulators for training in minimally invasive surgery,” IEEE Comp. Graph. Appl. 27 (2), 54–66 (2007).Google Scholar
2.Boman, D. K., “International survey: Virtual-environment research,” IEEE Comp. 28, 57–65 (1995).CrossRefGoogle Scholar
3.Everett, S. E. and Dubey, R. V., “Human–Machine Cooperative Telerobotics Using Uncertain Sensor or Model Data,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 1615–1622.Google Scholar
4.Hamada, T., Kamejima, K. and Takeuchi, I., “Image based operation; A human–robot interaction architecture for intelligent manufacturing,” Proceedings of IECON (1989) pp. 556–561.Google Scholar
5.Haque, S. and Srinivasan, S., “A meta-analysis of the training effectiveness of virtual reality surgical simulators,” IEEE Trans. Info. Technol. Biomed. 10 (1), 51–58 (2006).Google Scholar
6.Hannaford, B., “Design framework for teleoperators with kinesthetic feedback,” IEEE Trans. Rob. Automat. 5 (4), 426–434 (1989).Google Scholar
7.Her, M.-G., Karkoub, M. A. and Hsu, K.-S., “Design and control of a 2-D telerobotic system with haptic interface,” IMechE J. Syst. Control Eng. 217 (3), 169–185 (2003).Google Scholar
8.Kanai, S. and Takahashi, H., “Modeling and NC Programming for Free-Form Surfaces by Haptic Interfaces,” The 1996 ASME Design Engineering Technical Conference and Conference and Computer in Engineering Conference, Irvine, CA (Aug. 18–22, 1996).Google Scholar
9.Kazerooni, H. and Her, M.-G., “The dynamics and control of a haptic interface device,” IEEE Trans. Rob. Automat. 10 (4), 453–464 (1994).Google Scholar
10.Kazerooni, H. and Moore, C. L., “An approach to telerobotic manipulations,” J. Dyn. Syst. Meas. Control 119, 431–436 (1997).CrossRefGoogle Scholar
11.Kuleshov, V. S. and Lakota, N. A., Remotely Controlled Robots and Manipulators (Mir Publishers, Moscow, 1988).Google Scholar
12.Kwon, D. S., Woo, K. Y. and Cho, H. S., “Haptic Control of the Master Hand Controller for a Microsurgical Telerobot System,” Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan (1999) pp. 2982–2987.Google Scholar
13.Li, Y. F. and Wang, J. G., “Incorporating Sensing in Virtual Environment for Robotic Tasks,” IEEE Instrumentation and Measurement Technology Conference, St. Paul, USA (May 18–21, 1998).Google Scholar
14.Magnenat-Thalmann, N. and Bonanni, U., “Haptics in virtual reality and multimedia,” IEEE Multimedia 13 (3), 6–11 (2006).Google Scholar
15.Minsky, M. and Ouh-young, M., “Feeling and seeing: Issues in force display,” Comp. Graph. 24 (2), 235–243 (1990).Google Scholar
16.Sato, T., Ichikawa, J., Mitsuishi, M., Miyazaki, H. and Hatamura, Y., “Micro-teleoperation with manual task execution posture,” IEEE Control Syst. 15 (1), 22–28 (1995).Google Scholar
17.Takahashi, T. and Ogata, H., “Generating and replanning robot commands based on human operation,” J. JSAI 8 (4), 448–455 (1994).Google Scholar