This paper presents development of the new haptic device for virtual wall collision test. Mathematical model of the proposed system considering virtual wall collision is developed and tuned by comparing force responses from simulation and experiment with free motion. To verify the effectiveness of the proposed model, a range of collision tests against virtual wall are accomplished, conditioned on different collision speeds to virtual wall. In addition, hybrid PI control scheme is applied to improve the performance of the proposed haptic system in virtual wall collision experiments.

• 이학(School of Mechanical Engineering, Kyungpook National University) | H. Yi
• 홍창섭(Comet Network Co. Ltd) | C. S. Hong
• 오재윤(Chonbuk National University) | C. Y. Oh Corresponding Author