Geodesic haptic device for surface rendering

摘要: This paper describes a haptic device whose aim is to render the contact with continuous and developable surface by means of representation geodesic trajectory. Some preliminary tests conducted industrial designers have showed that trajectories performed while exploring style product, for qualitative evaluation, follows some particular may be mathematically described as curves. In order represent these curves strip based on modular servo-controlled mechanism has been developed. Each module allows us control both curvature torsion. device, in respect commercial existing devices, hand-surface virtual model real scale without artifacts, self-deforming its shape conform mathematical curve render. The 900 mm long 9 points bending 8 Due characteristics, it exploration several kinds product shapes dimensions. allow users fully explore an object surface, we mounted platform consisting two MOOG-FCS HapticMaster which permits 6DOF orientation force feedback control. starting from empirical observations surfaces highlights problems encountered solutions adopted.