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Theses

Contributions to the Study of Intermittent Contact Haptic Interfaces

Abstract : Force feedback interfaces are robotic systems allowing natural motion interactions with virtual or remote environments. They are employed in several domains such as remote handling (e.g. nuclear, subsea, space), manufacturing, entertainment, education, medicine and rehabilitation, just to mention the most popular. In virtual reality (VR) applications, the user typically holds a handle that is mechanically linked to the end-effector of the robot. This link has a non-negligible influence since the presence of the robot can be felt (friction, inertia and vibrations of the mechanical structure) even in free space, decreasing the realism of the interaction. Intermittent-contact haptic interfaces (IC-HIs) represent a promising approach to cope with this issue. These interfaces track and closely follow (without contact) the user movements in free space and come to his/her contact only when force feedback is required. This way IC interfaces aim to improve the realism of the interactions. The thesis presented concerns the study and improvement of such IC-His.
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Oscar Eduardo de La Cruz Fierro. Contributions to the Study of Intermittent Contact Haptic Interfaces. Robotics [cs.RO]. Sorbonne Université, 2019. English. ⟨NNT : 2019SORUS071⟩. ⟨tel-02973644⟩

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