A Benchmark of Force Quality in Haptic Rendering

Kurzfassung

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.