A development of high definition haptic controller

Abstract

This paper describes a haptic controller for force feedback systems in virtual environments. For stable haptic, a frequency of device control higher than I kHz is required. In this research, we have developed a high definition haptic controller with SuperH4 processor. In order to achieve high frequency of device control, the controller interpolates haptic information from primitive geometries and impedance of a virtual wall. SPIDAR, a wire driven haptic display, uses this controller. It realizes high control frequency. Consequently, it became possible to display a very hard virtual wall stably. The high definition haptic controller (HDHC) allows stable haptic and high quality sensation in virtual environments.