9403730 Colgate This project deals with the haptic display of rigid body dynamic systems. A haptic interface allows an operator to manipulate and feel computer-generated environments in applications such as flight simulation, rapid prototyping systems and physical therapy. During the project activity, rigid body dynamic systems featuring unilateral and bilateral constraints are investigated using a network method approach for real-time solution. Such methods guarantee passivity and exploit a low-level of parallelism to achieve real-time integration rates for stiff dynamic systems. Transputers are employed as basic computational elements for laboratory implementation using a state-of-the- art four degree of freedom haptic display device. ***

Project Start
Project End
Budget Start
1994-06-01
Budget End
1998-05-31
Support Year
Fiscal Year
1994
Total Cost
$150,803
Indirect Cost
Name
Northwestern University at Chicago
Department
Type
DUNS #
City
Evanston
State
IL
Country
United States
Zip Code
60201