Haptic guidance using primitives for the execution of virtual robotic tasks

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Title:	Haptic guidance using primitives for the execution of virtual robotic tasks
Author:	Vázquez Hurtado, Carlos; Rosell Gratacòs, Jan
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Abstract:	Haptic guidance is a powerful tool for people rehabilitation, for handcraft skills acquisition and all kind of enactive tasks. In this paper, different techniques to achieve reliable haptic feedback on the execution of virtual robotic tasks, based on the efficient combination of path planning methods and haptic guidance primitives, are presented. The main contribution of this paper is a reliable system of force guidance based on haptic primitives. The whole proposal is constituted by: 1) a free collision path obtained using a deterministic sampling, hierarchical cell decomposition and harmonic functions 2) force feedback, achieved by means of elastic models, based on simple geometry elements,called haptic primitives, and 3) a virtual robotic task.
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Haptic devices -Robots Control systems -virtual tasks -haptic devices -haptic guidance -Dispositius hàptics -Robots -- Sistemes de control
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Document type:	Article - Published version Conference Object
Published by:	Institute of Electrical and Electronics Engineers (IEEE)
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