When using a force feedback device to interact with a virtual world, the effect of immersion is highly dependent on its performance of gravity compensation. In this work, an active and passive combined gravity compensation approach is presented for a horizontally mounted 6-DOF hybrid force feedback device (HFFD-6). Both active and passive methods are analyzed with simulation and corresponding parameters in the passive approach are then optimized. And to evaluate the performance of the gravity compensation approach, physical experiments are also conducted to measure the gravity compensation errors in the workspace. Moreover, comparison studies are conducted to illustrate the superiority of the proposed approach in terms of output force capability. These experiments have demonstrated that the proposed approach is feasible to achieve gravity compensation and improve the output force capability of the device.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.