Hapstick: A high fidelity haptic simulation for billiards
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This thesis presents the design and implementation of a haptic enabled virtual reality based game interface for the high fidelity simulation of billiards. The haptic interface features a natural user interface to simulate realistic play of billiards. The thesis report discusses the physics behind the virtual reality game, the kinematics and dynamics of the force feedback device and finally an implementation of a computed torque control for providing haptic feedback. Complete information about calibration and comparative performance measures for the device has also been provided. The thesis also aims to serve as a document template for anyone who is interested in building their own beginner level haptic interface. Information regarding the device and the necessary code and blueprints has been uploaded on the lab's research website to facilitate the same.* *This dissertation is a compound document (contains both a paper copy and a CD as part of the dissertation). The CD requires the following system requirements: Windows MediaPlayer or RealPlayer.