A General Purpose Control-Based Playback for Force Feedback Systems
Andrew Crossan, John Williamson and Stephen Brewster
In: EuroHaptics 2006, Paris, France(2006).

Abstract

This paper describes a trajectory playback algorithm for active force-feedback devices, which extends the bead pathway metaphor to include a PID controller, to minimise error, even when the device undergoes significant disturbances. A study is presented testing the algorithm with the Phantom Omni device, under a number of different conditions simulating potential real-world use. The results show that the algorithm copes well under the conditions tested. This technique is widely applicable to playback situations (for example virtual training environments), and can be adapted to many haptic devices. As such, an open source trajectory playback library using these techniques has been developed and made available.

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