Realistic Active Haptic Guided Exploration with Cartesian Control for Force–Position Tracking in Finite Time

• Published in: Applied bionics and biomechanics 2006-01, Vol.3 (4), p.279-289
• Main Authors: Domínguez-Ramírez, O. A., Parra-Vega, V.
• Format: Article
• Language: English
• ISSN: 1176-2322; 1754-2103
• DOI: 10.1533/abbi.2006.0053

Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic‐guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite‐time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback.