摘要：Perception of kinesthetic and tactile sensations forms the fabric of obtaining haptic feedback from remote or virtual environments through the interface that can be either tele-operated or virtual reality systems. A belt-type haptic device is a new fangled means to perceive these sensations along with directional information. Varying the speed and vibration levels of the belt can render appropriate tactile and kinesthetic feedback to the user through skin deformation. In this paper, a novel means for accurate measurement of both speed and vibration of the belt are presented in order to enhance the fidelity of the texture and force sensations. Information from multiple proximity sensors and piezoelectric vibration sensor is fused using state estimation techniques to get accurate measurements. These measurements, in turn, enhance the control quality of the belt speed and oscillation, hence enabling the user to experience the environment transparently. Furthermore, a graphical user interface (GUI) is developed in MATLAB to make the measurements accessible from a remote location through an IOT module, so that the parameters can be controlled as and when the haptic feedback needs to be improved.
关键词：Haptic device;Kinesthetic feedback;Conveyor belt;Motion control
