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A Benchmark of Force Quality in Haptic Rendering

Sagardia, Mikel and Hulin, Thomas and Preusche, Carsten and Hirzinger, Gerd (2009) A Benchmark of Force Quality in Haptic Rendering. In: Proceedings. HCI, 13th International Conference on Human-Computer Interaction, 19. Juli-24.Juli 2009, San Diego, USA.

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Abstract

Several haptic rendering algorithms have been developed in the last years and a comparative study is needed to select the appropriate algorithm for each application. This work presents a set of testing scenarios and indicators for benchmarking haptic rendering algorithms using synthetically generated and recorded realistic assembly paths. Synthetic scenarios aim to objectively evaluate haptic rendering algorithms by comparing their response with expected analytical behaviors. Real assembly scenarios are oriented to evaluate the algorithms in complex environments. Examples of the benchmark are given using an improved version of the Voxmap-PointShell Algorithm

Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Benchmark of Force Quality in Haptic Rendering
Authors:
AuthorsInstitution or Email of Authors
Sagardia, MikelMikel.Sagardia@dlr.de
Hulin, ThomasThomas.Hulin@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:19 July 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Haptics, Collision Detection, Force Computation, Benchmarking, Evaluation, Assembly Simulation
Event Title:HCI, 13th International Conference on Human-Computer Interaction
Event Location:San Diego, USA
Event Type:international Conference
Event Dates:19. Juli-24.Juli 2009
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:19 Jan 2010 09:30
Last Modified:12 Dec 2013 20:52

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