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haptic control design

Robotica (1)

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Cost-oriented virtual reality and real-time control system architecture
Wollherr Dirk, Martin Buss
Journal:

Robotica / Volume 21 / Issue 3 / June 2003

Published online by Cambridge University Press:

13 May 2003, pp. 289-294
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In this paper the use of inexpensive standard hardware and software is proposed in place of high-cost commercial solutions to set up real-time control experiments with a human in the control loop, including graphical and haptic virtual reality (VR). For this purpose a generic simulation environment for the implementation of control experiments using VR with haptic feedback and their evaluation, has been developed. As an example, setups of a car simulator with a human in the control loop and an inverted pendulum as an experiment for student laboratories are presented.