케이블 장력을 이용한 햅틱 큐브 개발

Abstract

Force feedback considerably enhances the performance of both virtual reality and augmented reality. Force feedback enables an operator to feel the collision with an obstacle and the compliance of the obstacle. A cable driven mechanism is widely used for this application because the actuators are fixed to the ground and their weights can be neglected. However, the cable is limited in the force transmission because it can only deliver the tensile force. Four motors are used for estimating the position of the finger cap and for generating the desired force at the cap in a three-dimensional space. Because of the limitation of using cables, according to which only a tensile force transmission is feasible, the cables for pulling are selected and the corresponding tensile force of each cable is calculated. Depending on the location of the cap and the desired force, the resultant force is projected to the cable tensile forces, and the proposed algorithm is verified with several cases. The limitation of the haptic device with respect to the location and the direction of force is also presented.