A haptic interface
is a kinesthetic link between a human operator and a virtual
environment. It allows the user of the virtual reality system to "feel"
objects in a virtual world.
The aims of this
study are to design and fabricate a Haptic Interface System (HIS) using
an instrumented Joystick. The environment was computationally
represented using V-realm, while the Simulink and MATLAB were used to
interface the encoder and motor.
To illustrate the concepts we simulated navigation a simple direction
and interacting with a passive tissue. The constitutions equation of the
tissue used the axial deformation to set the force of generated by the
motor.
The ability of HIS for distinguishing stiffness parameter between
various tissues is demonstrated.
The HIS consists of mechanical and electronic components systems, also
has utilized of Simulink and V-Realm Builder toolbox in MATLAB software
for control design and graphical environment, respectively. For
real-time process of the sensory information and motor control, real
time windows target, another toolbox in MATLAB6.5 is used.
V. Golkhou
,
R. Narimani ,
M. Hoviattalab
E.
Karimi ,
J. Khamseh
,
A. Gandomi