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A mobile platform for haptic grasping in large environments

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Abstract

This paper presents methodologies and technologies that are exploited to design and implement the mobile haptic grasper (MHG), i.e. an integrated system consisting of a mobile robot and two grounded haptic devices (HD) fixed on it. This system features two-point contact kinaesthetic interactions while guaranteeing full user’s locomotion in large virtual environment. The workspace of haptic interaction is indefinitely extended, and this is extremely relevant for applications such as virtual grasping, where the global workspace is typically reduced with respect to those of the single-point contact devices. Regarding software architecture, we present the Haptik Library, an open source library developed at the University of Siena which allows to uniformly access HD, that has been used to implement the MHG software.

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Notes

  1. Note that in order to avoid confusion throughout this work the term “interface” refers only to the software primitive of the component model and has never been used to refer to a haptic device.

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Authors and Affiliations

  1. Department of Information Engineering, University of Siena, Via Roma 56, 53100, Siena, Italy

    Maurizio de Pascale, Allesandro Formaglio & Domenico Prattichizzo

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  1. Maurizio de Pascale
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  2. Allesandro Formaglio
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  3. Domenico Prattichizzo
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Correspondence to Domenico Prattichizzo.

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de Pascale, M., Formaglio, A. & Prattichizzo, D. A mobile platform for haptic grasping in large environments. Virtual Reality 10, 11–23 (2006). https://doi.org/10.1007/s10055-006-0026-6

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  • DOI: https://doi.org/10.1007/s10055-006-0026-6

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