Publications

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Search for Publication


Year(s) from:  to 
Author:
Keywords (separated by spaces):

Measuring and Incorporating Slip in Data-Driven Haptic Rendering

Raphael Höver, Matthias Harders
Haptic Symposium
Waltham, Massachusetts, USA, March 2010

Abstract

In this paper we extended our data-driven haptic rendering approach towards slipping phenomena. In order to capture tool displacements on surfaces we designed a slip sensor based on an optical mouse sensor. Calibration experiments were performed to ensure accurate readings on rigid and deformable surfaces. For slow tool movements this calibration led to very accurate slip measurements. Moreover, we extended our rendering algorithm to incorporate slip measurements. For the rendering a simple slip model was evaluated. Results revealed that the slip model was able to reproduce some slip effects, however, not all dynamic phenomena could be recreated. To improve the rendering fidelity, a more sophisticated model will be required.


Link to publisher's page
Download in pdf format
@InProceedings{eth_biwi_00686,
  author = {Raphael H\"over and Matthias Harders},
  title = {Measuring and Incorporating Slip in Data-Driven Haptic Rendering},
  booktitle = {Haptic Symposium},
  year = {2010},
  month = {March},
  pages = {175 - 182},
  keywords = {Slip Sensor, Data-Driven, Haptic Rendering}
}