Obstacle avoidance methods for a passive haptic display
Swanson, Davin K.
Book, Wayne John
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An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order to guide the user around obstacles. The other controller selectively kinematically constrains the device to a single degree of freedom. The inherent passivity constraint of the haptic display imposes performance limitations on the two controllers