Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force

Abstract

In recent years, studies on haptic interfaces have progressed. This study deals with the development of the “Haptic Desk”, which can detect force information and contact position information using a simple mechanism with force sensors. However this technique has low contact point accuracy when the external force is small. Hence, this paper proposes the use of differentiated force information to calculate an accurate contact point. In the experiment, the accuracy of the contact point calculation using the differentiated force information was higher than the one using the force information when the external force was small. Therefore, the error of the contact point decreased regardless of the magnitude of the force when the force information and differentiated force information were used properly.