[ODE] Adding a good "feel" to a haptics device

[Tatu Lahtela]

On Mon, 2004-04-05 at 06:22, Manohar B.S wrote:
> /*--- Tatu Lahtela <lahtela at cs.tut.fi> wrote:
>    I have a 6 degree of freedom haptics device and I'm
>    trying to add a good
>   "feel" to the objects.
> */
> 
> Hi,
>    I had to do the same thing some time back. I have a
> 3Dof Haptic device (6Dof position). I did this way:
> 
>  1. Your Haptic device position be HIP[x,y,z].
>  2. Consider a small sphere S. add it to ODE space. S
> should have both mass and geom. 
>  3. Now connect HIP and S with a tough Spring-Damper.
>  4. Return the spring-damper forces back to the haptic
> device. and apply opposite force to the Sphere using
>  dBodyAddFoce(..).
> 
>  5. That's all... There are other methods in which you
> can use the BallJoint constraints.
> 
>  6. You can take care of Torques also if you have 3Dof
> Torque output.
> 
>  6. Never set the position of the S. It will harm the
> user.
> 
>  Incase you have PHANToM let me know.

Yes, it's a Sensable PHANToM device. I'll have to look into this
approach, if you can share any code that would be much appreciated


-- 
Tatu Lahtela <lahtela at cs.tut.fi>