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• W2042997201 abstract "A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation." @default.
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• W2042997201 date "2009-02-20" @default.
• W2042997201 modified "2023-09-25" @default.
• W2042997201 title "Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation" @default.
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• W2042997201 doi "https://doi.org/10.1115/1.3074282" @default.
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