가상물체 인식 실험을 위한 2차원 Haptic 인터페이스 장치의 구현

Realization of a two dimensional Haptic Interfacing Apparatus for Virtual Object Recognition Experiments

In this paper, a 2D X-Y table, two axes of which are symmetrical, and a force sensing device are constructed, which comprise a 2D haptic interfacing apparatus. Two DC motors are used for actuating the two axes of the table and two precision encoders for sensing the position of each axis. Four PZTs are used for sensing the direction and the magnitude of the 2D force applied to the force sensing device by the user. The performance of the 2D haptic interface device is tested by 2D virtual object recognition experiments.