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Grabity: A virtual reality haptic controller for creating gravity and stiffness during grasping motions through asymmetric vibrations
Grabity: A virtual reality haptic controller for creating gravity and stiffness during grasping motions through asymmetric vibrations
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机译:重力:虚拟现实触觉控制器,用于通过不对称振动抓住动作期间产生重力和刚度
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摘要
A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.
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