Path Planning for Encountered-type Haptic Devices that Render Multiple Objects in 3D Space
3次元空間内の複数の仮想物体を提示するための遭遇型ハプティックデバイスの軌道計画

Yasuyoshi YOKOKOHJI, Junji KINOSHITA, Tsuneo YOSHIKAWA
2004 Transactions of the Society of Instrument and Control Engineers  
A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the
more » ... user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.
doi:10.9746/sicetr1965.40.139 fatcat:yni5j5dtmjfmpjkulxksaatuxu