Custom device with admittance control
I would use a custom device with an admittance control scheme. It's seem that CHAI3D use an impedence control scheme.
Is there any project who already did this before and solve inverse solutions ?
I am looking specifically for methods computeForce (to computePosition) for Haptics Effects class and setForceAndTorqueAndGripperForce (to setPosition) for cMyCustomDevice class.
If your device uses admittance control, I believe that your have a force sensor mounted at the end-effector?
If you do have a force sensor, the best is to create a control loop that reads the desired force from the application (CHAI3D) and compares it with the current force measured by the force sensor. A position command is then sent to the admitance haptic device accordingly. Such approaches have been used in the past on devices such as the Haptic Master from Moog FCS.