Modeling and Identification of a 3 DOF Haptic Interface

Abstract

The aim of haptic interfaces is to enhance the user's immersion in virtual environments through the stimulation of the haptic sense (motion capture and force feedback). Most devices make use of an articulated mechanical structure introducing distortions between the operator and the explored world. To assess the quality of the interface, this distortion must be identified. This paper deals with this issue and introduces the modeling and the identification of a 3 degrees of freedom haptic interface using inverse model and least squares method used in robotics.