Figure 10 coMtactS prototype in operation during a training session.
Related Figures (18)
Fig. 1. First developed prototype. VIRTUAL COORDINATES OF THE MOTORS Fig. 3. Virtual workspace created for the haptic device. VALUES OF THE PARAMETERS IN F; and second horses respectively; and Lyax is the length from which the rein does not have any effect. Here F,,¢, is equal to 40 N, which corresponds to the maximum force exerted by the paired motors. Fig. 5. Left: carriage speed law. Right: exerted forces law. Fig. 6. Horse orientation law. Fig. 8. Forces exerted by one participant with the associated realized trajectory. Numbers in the graph (from 1 to 6) refer to the ellipses marked on the track. Fig. 9. Experimental results. Fig. 11. Setup for the data collection with the rein sensor attached to the reins. Fig. 12. Path followed by the drivers during the data collection. Fig. 13. Force data for two horses with the same driver in each round in the clockwise direction. In blue, left rein; in orange, right rein. Fig. 14. Design of the second prototype, with a focus on the mo- tort+potentiometer system (bottom). Fig. 15. Final prototype. Fig. 18. Force data during a free virtual driving session, with the associated behaviors and events. In blue, left rein; in orange, right rein. The driven path is depicted on the top. Fig. 17. User interface.