Issues in the haptic display of tool use Export

@inproceedings{Colgate1995, abstract = {Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described}, author = {Colgate, J. E. and Stanley, M. C. and Brown, J. M.}, booktitle = {Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on}, citeulike-article-id = {1679498}, keywords = {bibtex-import, body, collision, collisions, constraints, detection, devices, display, haptic, interactive, reality, rigid, simulation, tool, toolenvironment, unilateral, use, virtual}, pages = {140--145}, pdf = {Colgate1995 - Issues in the Haptic Display of Tool Use.pdf}, posted-at = {2007-09-20 17:17:21}, priority = {0}, title = {Issues in the haptic display of tool use}, volume = {3}, year = {1995} }

TY - CONF ID - Colgate1995 L3 - citeulike-article-id:1679498 N2 - Our group is interested in using haptic display for training tool use. Applications include training doctors to use tools during surgery, and training astronauts to use tools during EVA. This paper describes some of the challenges of creating realistic haptic perceptions of tool use. Many of these challenges stem from the importance of unilateral constraints during tool use. Unilateral constraints occur whenever rigid bodies collide, resisting the interpenetration of the bodies, but not holding the bodies together. To identify unilateral constraints, a tool/environment simulation must perform collision detection. To respond properly to a collision, the simulation must estimate the forces that ensue, and integrate the equations of motion. All of these computations must occur in real time, and the simulation as a whole must be stable (to ensure the user's safety). Approaches to these problems are described EP - 145 TI - Issues in the haptic display of tool use VL - 3 T2 - Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on SP - 140 KW - bibtex-import KW - body KW - collision KW - collisions KW - constraints KW - detection KW - devices KW - display KW - haptic KW - interactive KW - reality KW - rigid KW - simulation KW - tool KW - toolenvironment KW - unilateral KW - use KW - virtual AU - Colgate, JE AU - Stanley, MC AU - Brown, JM PY - 1995/// ER -