Passive Virtual Fixtures Based on Simulated Position-Dependent Anisotropic Plasticity

• Virtual fixtures are computer-generated fixtures for assisting/guiding human manipulation through haptic interfaces.

• The control framework for always-passive, plasticity-based virtual fixtures is presented.

• A plasticity-based virtual fixture acts as a hard wall when the user's force is small.

• It can be deviated by intentionally producing a force larger than a predetermined level.

• It can be used with both admittance-type and impedance-type haptic interfaces.

Ryo Kikuuwe, Naoyuki Takesue, and Hideo Fujimoto Nagoya Institute of Technology, Japan