Haptic Manipulation of Serial-Chain Virtual Mechanisms
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents an approach for providing realistic force feedback to users manipulating serial-chain virtual mechanisms. In the proposed approach, a haptic device controller is designed that penalizes users’ motion along the directions resisted by the virtual joints. The resisted directions span the nullspace the Jacobian of the virtual mechanism computed at the users’ hand, and are derived via a singular value decomposition-based algorithm. Haptic numerical performance is achieved by computing the resisted directions on the graphics processor, and by using them on the haptics processor to derive the control signal that restricts users’ motion as required by the virtual joints. The performance of the proposed approach is validated through experimental manipulations of links with unrestricted and with restricted motion within a planar virtual world.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it