Design and Analysis of Human Interface Device for Tele-presence System

This paper explores a new type of a 2-D human interface manipulator based on the tele-presence entertainment for mechanism design applications. A motion control of a multi-axes robot manipulator actuated by two servo motor is presented in this paper. The model of the tele-presence entertainment system is built based on a force sensor device behavior that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. A primary controller is used to develop a sensor device where realistic simulations of the dynamic interaction force between a human operator and the simulated virtual object/mechanism is required. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the effectiveness of the experimental and theoretical results is in good agreement and that the designed controller is confirmed by the experiment result.