Simulating cheap hardware: a platform for evaluating cost-performance trade-offs in haptic hardware design

This work describes a platform devised to explore the impact on task execution in a virtual environment of the quality, and therefore cost, of the system's haptic hardware. This platform is a complex haptic interface in which hardware quality can be varied in simulation. Software intercepts the...

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Bibliographic Details
Main Authors: Brouwer, I., MacLean, K.E., Hodgson, A.J.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
Costs
Degradation
Exact sciences and technology
Forging
Friction
Haptic interfaces
Hardware
Laparoscopes
Robotics
Software
Surgery
Testing
Virtual environment
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Description
Summary:This work describes a platform devised to explore the impact on task execution in a virtual environment of the quality, and therefore cost, of the system's haptic hardware. This platform is a complex haptic interface in which hardware quality can be varied in simulation. Software intercepts the position and force signals between the haptic hardware and the virtual environment software, and alters them to supply the effect of increased friction, cogging, backlash, inertia and/or lower force output. All parameters of the introduced effects can be set independently or in combination and on a continuous scale; a primary contribution is the creation of haptically realistic effect models that are stable in combination on complex hardware. This work is part of a larger project in which we test the effect of the simulated degradations on surgeons performance in simulated laparoscopic tasks.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307242