High bandwidth, large workspace haptic interaction: flying phantoms
Barrow, A. L. and Harwin, W. S. (2008) High bandwidth, large workspace haptic interaction: flying phantoms. In: Weisenberger, J., Okamura, A. and MacLean, K. (eds.) Symposium on Haptics Interfaces for Virtual Environment and Teleoperator Systems 2008, Proceedings. IEEE Computer Soc, Los Alamitos, pp. 295-302. ISBN 9781424420056
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It is well understood that for haptic interaction: free motion performance and closed-loop constrained motion performance have conflicting requirements. The difficulties for both conditions are compounded when increased workspace is required as most solutions result in a reduction of achievable impedance and bandwidth. A method of chaining devices together to increase workspace without adverse effect on performance is described and analysed. The method is then applied to a prototype, colloquially known as 'The Flying Phantom', and shown to provide high-bandwidth, low impedance interaction over the full range of horizontal movement across the front of a human user.