Header

UZH-Logo

Maintenance Infos

A versatile wire robot concept as a haptic interface for sport simulation


von Zitzewitz, J; Rauter, G; Steiner, R; Brunschweiler, A; Riener, R (2009). A versatile wire robot concept as a haptic interface for sport simulation. In: International Conference on Robotics and Automation (ICRA), Kobe (Japan), 12 May 2009 - 17 May 2009, 313.

Abstract

This paper presents the design of a new user-cooperative rope robot. This robot serves as a large-scale haptic interface in a multi-modal Cave environment used for sport simulation. In contrast to current rope robots, the configuration of the presented robot is adaptable to different simulation tasks what makes the robot more versatile. However, this adaptability and the high dynamics in sports lead to challenging requirements and specific design criteria of the hardware components. We present the requirements on the single robot components as well as the design of the entire setup optimized in terms of user-cooperativity and versatility. The setup includes sensors to measure the relevant parameters for user-cooperative control, i.e. position with a high resolution and the rope forces. Furthermore, an algorithm is introduced, which calculates the distance between the single ropes and the user in order to avoid collisions between the ropes and the user. Single points on the user's body are, therefore, tracked with a motion tracking system; the user's single body parts are then represented by geometrical objects whose distances to the ropes are calculated. The algorithm is programmed in such way that the collision detection runs in real-time. Both, the hardware and the algorithm, were evaluated experimentally in two applications, a rowing simulator and a tennis application. The hardware concept combined with the distance calculation allows the use of new kinematic concepts and expands the spectrum of realizable movement tasks that can be implemented into the Cave environment.

Abstract

This paper presents the design of a new user-cooperative rope robot. This robot serves as a large-scale haptic interface in a multi-modal Cave environment used for sport simulation. In contrast to current rope robots, the configuration of the presented robot is adaptable to different simulation tasks what makes the robot more versatile. However, this adaptability and the high dynamics in sports lead to challenging requirements and specific design criteria of the hardware components. We present the requirements on the single robot components as well as the design of the entire setup optimized in terms of user-cooperativity and versatility. The setup includes sensors to measure the relevant parameters for user-cooperative control, i.e. position with a high resolution and the rope forces. Furthermore, an algorithm is introduced, which calculates the distance between the single ropes and the user in order to avoid collisions between the ropes and the user. Single points on the user's body are, therefore, tracked with a motion tracking system; the user's single body parts are then represented by geometrical objects whose distances to the ropes are calculated. The algorithm is programmed in such way that the collision detection runs in real-time. Both, the hardware and the algorithm, were evaluated experimentally in two applications, a rowing simulator and a tennis application. The hardware concept combined with the distance calculation allows the use of new kinematic concepts and expands the spectrum of realizable movement tasks that can be implemented into the Cave environment.

Statistics

Citations

2 citations in Web of Science®
16 citations in Scopus®
Google Scholar™

Altmetrics

Downloads

432 downloads since deposited on 28 Feb 2010
80 downloads since 12 months
Detailed statistics

Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:04 Faculty of Medicine > Balgrist University Hospital, Swiss Spinal Cord Injury Center
Dewey Decimal Classification:610 Medicine & health
Language:English
Event End Date:17 May 2009
Deposited On:28 Feb 2010 14:46
Last Modified:11 Aug 2017 12:42
Publisher DOI:https://doi.org/10.1109/ROBOT.2009.5152219
Other Identification Number:10.1109/ROBOT.2009.5152219

Download

Preview Icon on Download
Preview
Filetype: PDF
Size: 1MB
View at publisher

TrendTerms

TrendTerms displays relevant terms of the abstract of this publication and related documents on a map. The terms and their relations were extracted from ZORA using word statistics. Their timelines are taken from ZORA as well. The bubble size of a term is proportional to the number of documents where the term occurs. Red, orange, yellow and green colors are used for terms that occur in the current document; red indicates high interlinkedness of a term with other terms, orange, yellow and green decreasing interlinkedness. Blue is used for terms that have a relation with the terms in this document, but occur in other documents.
You can navigate and zoom the map. Mouse-hovering a term displays its timeline, clicking it yields the associated documents.

Author Collaborations