Eintwicklung eines Kraft-Feedback-Systems für virtuelle Umgebungen

Abstract

The development of a force feedback system for virtual assembly simulation was motivated by the lack of haptic feedback in these VR application domain allowing realistic interaction in real size with 6 degrees of freedom. The requirements for the system where analysed manly by the industrial partners DaimlerChrysler, BMW and VW. Based on them we developed hardware and software concepts and implemented them during the project "Development of a Force Feedback System for Virtual Environments", which was part of the integrated project iViP (integrated Virtual Product Creation) funded by the German Federal Ministry of Education and Research. The research partner DLR developed a 7 degrees of freedom lightweight robot with advanced control system suitable to use it as haptic device. The haptic rendering simulation was developed at IGD, based on a hybrid voxel and surface point representation of the scene, and integrated to a VR system. Usability tests with users from the industrial partners had positive results and guided the direction for further development