Haply Robotics Inverse3 Haptic Tool Controller
This section illustrate the scenes located in SofaUnity/Modules/HaplyRobotics/Examples/. Those scenes integrate the SOFA Haply Robotics plugin allowing to interface 6-Dof device from the company Haply Robotics with SOFA simulation.
All information regarding the SofaHaplyRobotics plugin can be found on this open Github repository: https://github.com/InfinyTech3D/SofaHaplyRobotics
This feature is available in the trial version but for extended academic or commercial use, this feature is subject to an additional license. See the licenses page for more details.
Inverse3 DEVICE Controller
The Inverse3 is a compact, high-performance haptic device that provides full 6-DoF motion input with fast, stable force feedback.
The real device is represented virtually in SOFA using rigid dof position of the device. Position, orientation, scale of the device can be changed in the SOFA simulation scene.
Interactive Unity setup is in work in progress.
It can be interfaced with LCPForceFeedBack SOFA component to compute and send force feedback to the device.
Below is a quick overview of the examples provided in the package.
INVERSE3 Demo Scenes
01. Inverse3-01-DeviceMotion
This first example is just showing how the virtual 3D device is mapped to the real device.
This is the minimal scene to test if the hardware and all software are well configured. The virtual device should follow the move the Inverse3 + the Verse Grip.
02. Inverse3-02-RigidSphere
This example simulate the interaction between the Inverse3 and a rigid sphere.
Force Feedback is sent to the device using SOFA plugin.
03. Inverse3-03-DeformableSphere
This example simulate the interaction between the Inverse3 and a deformable sphere simulated using FEM. Force Feedback is sent to the device using SOFA plugin.
04. Inverse3-04-RigidCube
Similarly, this example simulate the interaction between the Inverse3 and a rigid Cube with Force Feedback handling.
05. Inverse3-05-DeformableCubes
Similarly, this example simulate the interaction between the Inverse3 and 2 deformable Cubes simulated using FEM with different stiffness.
06. Inverse3-06-RigidSkull
This example shows a more advance simulation interaction between a rigid skull with sharp edges and the Inverse3 with Force Feedback
07. Inverse3-07-DeformableLiver
This example shows an advanced simulation between a 3D mesh of a liver simulated using FEM and the Inverse3 with Force Feedback handling.