The following haptic simulators have been used in the past:
Omega.3 & Omega.6
In order to provide operators with a force feedback during execution of some task, we use two haptic force feedback devices from Force Dimension (Switzerland), called Omega.3 and Omega.6. The Omega.3 consists of three motors and three position sensors. Depending on the Cartesian position of the end effector, a programmable Cartesian force can be applied to the users? hand, thereby allowing the force-feedback possibility. The Omega.6 differs from the former devise in the additional 3 measured (but not actuated) rotational degrees of freedom of the end-effector.
Phantom Haptic Feedback Devices
In order to simulate objects that can also be touched we use haptic force feedback devices, called PHANToM. The PHANToM consists of three motors and three position sensors. Depending on the position of the end effecter a force can be applied to the users? finger and thereby simulation the resistance of e.g., a wall or an object that can be picked up.
Table-Top Virtual Workbench
For the visual-haptic simulations we use a table-top virtual workbench consisting of a computer monitor (CRT) mounted upside down above a mirror. When observers look in the mirror stereoscopically rendered objects appear to float above the table. We use two PHANToMs placed below the mirror to provide haptic feedback to the hand of an operator. This setup enables us
to investigate many aspects of haptic and visual information processing because the visual and haptic scene can be controlled separately.
Integrated Kinesthetic and Tactile Feedback Devices
This modular integrated haptic interface is based on a high force, hyper redundant kinesthetic (10 DoF) display called: ViSHaRD 10 and which was developed within the TOUCH-HapSys European project by the LSR Department (Prof. Martin Buss) at the Technical University in Munich. It provides a large cylindrical workspace of ø 1.7 m × 0.6 m and a maximum payload of 7kg, which is sufficient to attach additional tactile displays. At the moment three tactile displays are available to be connected with ViSHaRD 10:
Tactile Slip Force Display
This display is based on a rotating ball with a diameter of 60.2 mm. This ball is supported by an arrangement of ballbearings and rotated by two servo motors. With these two servomotors, arranged orthogonal at the balls equator, it is possible to generate the sensation of slip force in any lateral direction on the finger or any other body part. This device was developed here at the MPI.
Tactile Shear Force Display
This display is able to provide individual force stimuli tangential to the surface of the human skin in the area of the index finger tip. It consists of four pins movable laterally to the skin in any direction with a amplitude of 2 mm. This device was developed within the TOUCH-HapSys project by the LSR Department (Prof. Martin Buss) at the Technical University in Munich.
This commercial available computer mouse based display contains three Braille generator modules for middle finger, and the ring finger of the operator's hand. Each Braille generator module consists of a dot matrix array in 4 × 8 configuration. Each of the 96 pins is movable independently in normal direction toward the skin of the operator?s fingertip. The range of movement is 1 mm per pin, divided into 16 incremental steps.