Conception et réalisation d'une interface à retour d'effort pour les environnements virtuels à échelle humaine

Abstract : A haptic interface is developed to provide the force feedback in human-scale virtual environments. The interface is composed of a string-based platform and a grasping exoskeleton. The platform comprises 8 strings which are actuated by 8 actuating units. Each actuating unit contains an electrical motor, a rotary encoder and a force sensor. The motor supply the string's tension, while the encoder measures the string's length and the sensor measures its tension. The actuating units have a novel design to improve the pay load and the precision of the interface. The exoskeleton is connected to and actuated by the strings and permits the 5 fingers of a user's hand to accomplish the grasping gesture. The interface provides totally 7 degrees of force feedback for the user in interaction with virtual objects; 3 degrees of translations, 3 degrees of rotation and 1 degree of grasping. The force feedback interface is modelled to calculate the tension distribution in the strings related to the necessary forces and torques. The actuating units could be moved on a cubic frame around the virtual environment. An optimal arrangement for the blocs' positions is obtained to maximise the workspace of the interface. A hybrid control method is also proposed based on the strings' tensions measured by the force sensors. This method leads to resolve the ordinary problems of the string-based interfaces. The desired application of this interface is in haptic interaction with the simulated internal space of automotives. Therefore a visual scene corresponding to this application is developed and the interface is tested by different force feedback cases. The results of the tests demonstrate the practical performance of the interface to provide the proper forces and the movement transparency for the user.
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Submitted on : Wednesday, October 8, 2008 - 8:00:00 AM
Last modification on : Monday, November 12, 2018 - 10:57:02 AM
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  • HAL Id : pastel-00004216, version 1

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Rasul Fesharakifard. Conception et réalisation d'une interface à retour d'effort pour les environnements virtuels à échelle humaine. domain_other. École Nationale Supérieure des Mines de Paris, 2008. Français. ⟨NNT : 2008ENMP1541⟩. ⟨pastel-00004216⟩

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