A Trial Production for A Haptic Device of Finger Mounted Type by PID Contorol Using ARToolKit

Abstract

In this study, I made a prototype of wearable haptic device. When a user touch the object that is displayed by AR Toolkit, a Motor moves and wind a thread. The thread attached to the finger is wound up by the motor, and the thread presses the finger. The user feels like touching something with his fingertip. I programmed PID control in this device. When I use PID control, the amount of control to wind the thread varies depending on the acceleration of the finger. For example, if the user move the finger quickly and try to touch it, the thread will press the finger quickly and conversely if the user try to touch it late, the thread is taken up slowly. By doing like this, the control amount for winding the thread is made appropriate. The position of the finger is the marker written by the shape of the heart attached to the finger and the reference marker placed on the desk and the position is detected.

Anzu Kawazoe*, Kazuo Ikeshiro, Hiroki Imamura. Anzu Kawazoe, Kazuo Ikeshiro and Hiroki Imamura. A Trial Production for A Haptic Device of Finger Mounted Type by PID Contorol UsingARToolKit. VRSJ the 16th Annual Conference. CD ROM:pp. 500-501, 2011