Publication at Faculty of Mathematics and Physics |
2014
Abstract
Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues.
The proposed system was implemented into a 6-DOF haptic rendering algorithm and tested on an under-actuated haptic device in a user study. We found that by applying our torque simulation system, the torque perception increases significantly and that 6/3-DOF devices can be used in complex tasks involving 6-DOF interactions.