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Peg-in-Hole Revisited: A Generic Force Model for Haptic Assembly

[+] Author Affiliations
Morad Behandish, Horea T. Ilieş

University of Connecticut, Storrs, CT

Paper No. DETC2014-35290, pp. V01BT02A041; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1B: 34th Computers and Information in Engineering Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4629-2
  • Copyright © 2014 by ASME


The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, esp. when the assembly constraints involve complex features of arbitrary shape. The primary challenge lies in a proper formulation of the guidance forces that effectively assist the user in his/her exploration of the virtual environment, from repulsing collisions to attracting proper contact. The secondary difficulty is that of efficient implementation that maintains the standard 1 kHz haptic refresh rate. We propose a purely geometric model for an artificial energy field that favors spatial relations leading to proper assembly, differentiated to obtain forces and torques in a 6 DOF motion. The energy function is expressed in terms of a convolution of shape-dependent affinity fields, precomputed offline separately for each object. We test the effectiveness of the method using familiar peg-in-hole examples. We show that the proposed technique unifies collision detection and precision assembly modes into a single interaction, and provides a generic and automatic constraint model for the so-called virtual fixtures, with no restrictive assumptions on the types of the involved assembly features.

Copyright © 2014 by ASME



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