In this work we present a method of systematically selecting regions of a haptic workspace to be used for navigation of large virtual environments. Existing navigational techniques require the partitioning of the workspace into a region of manipulation and a separate region for navigation tasks. These techniques, however, have neglected to describe an effective way to implement these concepts in a device specific manner. We propose a two step technique to define these regions based on the mechanical properties of pre-existing devices. In the first step, the kinematic properties of the device are analyzed across the entirety of the physical workspace. A well-behaved region that favours isotropic mapping from the joint actuators to the generalized forces at the end effector is selected. Having ensured high force fidelity within this region, we then perform a second step analyzing the device dynamic properties. We further subdivide the navigational space into a region with suitable inertial properties in which manipulation tasks may be performed. This procedure generates a haptic display with a highly transparent haptic manipulation region within which a user can interact with a virtual environment. This manipulation region is bounded by a well-behaved navigational region that ensures adequate force transmission. To demonstrate this technique, navigation and manipulation spaces are generated and described for the planar and spatial cases.
This work introduces the Haply 2diy, a low-cost, grounded force feedback haptic device. This device is designed to provide handson laboratory experience for multimodal design by including the typically elusive sense of touch. The Haply 2diy is a two-degree-offreedom kinesthetic haptic device that allows the user to feel forces when moving in the workspace. The 2diy consists of two motors with encoders, a capstan transmission with a 3D-printed four-link mechanism, an aluminum platform, and a custom Arduino-based controller board. In this demonstration, conference attendees will be able to interact with the device and experience force feedback effects in various interaction demonstrations.
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