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Applied Bionics and Biomechanics
Volume 3 (2006), Issue 4, Pages 279-289

Realistic Active Haptic Guided Exploration with Cartesian Control for Force–Position Tracking in Finite Time

O. A. Domínguez-Ramírez1 and V. Parra-Vega2

1Research Center on Information and Systems Technologies – CITIS, Universidad Autonoma del Estado de Hidalgo, Carretera Pachuca-Tulancingo km 4.5, Pachuca, Hidalgo 42000, Mexico
2Robotics and Advanced Manufacturing Division – CINVESTAV Saltillo, Carretera Saltillo – Monterrey km 13.5, Ramos Arizpe, Coahuila 25900, Mexico

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic-guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite-time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback.