Friction, inertia and mass are all important properties that need to be modeled when creating a haptic application. In this demo, a ball is controlled via a haptic device. When the ball makes contact with the box you can feel the interaction with your hand. A toggle in the software allows me to turn translation motion on/off at will. Notice that I can interact with the box through friction alone when I move the ball around on the top of the box. See other projects that I created on my website: http://www.marek-knows.com/about.php5?section=haptics
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