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Uniting Haptic Exploration and Display

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 6))

Abstract

This work develops a methodology for building haptic reality-based modeling systems by exploiting the complementary goals of haptic exploration and display. While the generally unstructured nature of haptic exploration makes it difficult to develop and control autonomous robotic fingers, simultaneous consideration of exploration and display provides a way to characterize the required sensing, control, finger geometry, and haptic modeling components. Both the exploring robot and haptic display must complement an appropriate virtual model, which can accurately recreate remote or hazardous environments. We present an example of haptic exploration, modeling and display for surface features explored using a three-degree-of-freedom spherical robotic fingertip with a tactile sensor.

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Author information

Authors and Affiliations

  1. The Johns Hopkins University, Baltimore, MD, 21218, USA

    Allison M. Okamura

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  1. Allison M. Okamura
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Editor information

Editors and Affiliations

  1. Dept. of Electrical and Computer Systems Engineering, Monash University, Clayton, VIC, 3800, Australia

    Raymond Austin Jarvis

  2. Dept. of Systems Engineering, The Australian National University, Canberra, ACT, 0200, Australia

    Alexander Zelinsky

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© 2003 Springer-Verlag Berlin Heidelberg

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Okamura, A.M. (2003). Uniting Haptic Exploration and Display. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_15

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  • DOI: https://doi.org/10.1007/3-540-36460-9_15

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00550-6

  • Online ISBN: 978-3-540-36460-3

  • eBook Packages: Springer Book Archive

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