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Abstract

The design of haptic interfaces to simulate virtual or real environments is a challenging problem in haptics. The interactions among the human operator, the mechanism, sensors, actuators, the physic-based simulation, and the evaluation of the overall system bring interesting questions and important practical concerns. This work presents a contribution for the design, implementation and evaluation of haptic interfaces. Based on the mechanical information from a haptic device and the proposed methodology, we are able to build a haptic interface. The performance of the implemented haptic interface depends on the characteristics of the haptic device, the control system architecture and the control algorithms. The control system architecture must be able to maximize the performance of the haptic interface and the portability of thehaptic device, being able also to compute torque and forces to simulate di®erent stimulus when interacting with real or virtual environments, including friction. Once we get the dynamic information from the robot, characterized by the mechanical structure and its parameters, we are able to implement a haptic interface to achieve the desired performancefor the haptic device or robot. This methodology simplifies the development of new haptic interfaces allowing the use of several types of robots ranging from specialized manipulators to industrial ones.