An Experimental Study of the Limitations of Mobile Haptic Interfaces

Barbagli, Federico; Formaglio, Alessandro; Franzini, Maurizio; Giannitrapani, Antonio; Prattichizzo, Domenico

doi:10.1007/11552246_51

Cited by 20 publications

(15 citation statements)

References 7 publications

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“…These human-sized interfaces combine a mobile base with a limitedworkspace haptic device and follow the locomotion of the operator (thus extending the workspace to the entire walkable floor) in industrial teleoperation and virtual space exploration scenarios. Later studies involving similar devices designed for similar purposes include [5,16,34]. More recently, [2,39] proposed relatively smaller (forearm-sized), link-free desktop MHIs with a strong application focus on upper arm rehabilitation.…”

Section: Related Workmentioning

confidence: 99%

Haptic-Enabled Handheld Mobile Robots

Özgür

Johal

Mondada

et al. 2017

Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems

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The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonomous motion and act as tangible interfaces, but are also usable as haptic devices in order to exploit, for instance, kinesthetic learning. In this article, we present the design and analysis of the haptic interaction module of the Cellulo robots. We first detail our hardware and controller design that is low-cost and versatile. Then, we describe the task-based experimental procedure to evaluate the robot's haptic abilities. We show that our robot is usable in most of the tested tasks and extract perceptive and manipulative guidelines for the design of haptic elements to be integrated in future learning activities. We conclude with limitations of the system and future work.

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Section: Related Workmentioning

confidence: 99%

Haptic-Enabled Handheld Mobile Robots

Özgür

Johal

Mondada

et al. 2017

Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems

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“…This challenge was partly addressed by Mobile Haptic Interfaces (such as [27,3,11,30] that are human-sized platforms and [1,35] that are relatively smaller desktop robots) that were not used in educational or collaborative computer-human interaction studies so far.…”

Section: Related Workmentioning

confidence: 99%

Windfield

Özgür

Johal

Mondada

et al. 2017

Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

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This article presents a learning activity and its user study involving the Cellulo platform, a novel versatile robotic tool designed for education. In order to show the potential of Cellulo in the classroom as part of standard curricular activities, we designed a learning activity called Windfield that aims to teach the atmospheric formation mechanism of wind to early middle school children. The activity involves a didactic sequence, introducing the Cellulo robots as hot air balloons and enabling children to feel the wind force through haptic feedback. We present a user study, designed in the form of a real hour-long lesson, conducted with 24 children in 8 groups who had no prior knowledge in the subject. Collaborative metrics within groups and individual performances about the learning of key concepts were measured with only the hardware and software integrated in the platform in a completely automated manner. The results show that almost all participants showed learning of symmetric aspects of wind formation while about half showed learning of asymmetric vectorial aspects that are more complex.

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“…These designs must contend with problems caused by high inertia and friction common to large rigid-link robot arms. By mounting small-workspace haptic devices to mobile platforms, several different groups have managed to increase the workspace size of existing commercial devices, [7], [1]. However, this method also creates several challenging problems by coupling the haptic system's dynamic response to the response capabilities of the mobile platform.…”

Section: A Past Researchmentioning

confidence: 99%

The AirWand: Design and characterization of a large-workspace haptic device

Romano

Kuchenbecker

2009

2009 IEEE International Conference on Robotics and Automation

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Almost all commercially available haptic interfaces share a common pitfall, a small shoebox-sized workspace; these devices typically rely on rigid-link manipulator design concepts. In this paper we outline our design for a new kinesthetic haptic system that drastically increases the usable haptic workspace. We present a proof-ofconcept prototype, along with our analysis of its capabilities. Our design uses optical tracking to sense the position of the device, and air jet actuation to generate forces. By combining these two technologies, we are able to detach our device from the ground, thus sidestepping many problems that have plagued traditional haptic devices including workspace size, friction, and inertia. We show that optical tracking and air jet actuation successfully enable kinesthetic haptic interaction with virtual environments. Given an appropriately large volume high-pressure air source, and a reasonably high speed tracking system, this design paradigm has many desirable qualities when compared to traditional haptic design schemes. Abstract-Almost all commercially available haptic interfaces share a common pitfall, a small shoebox-sized workspace; these devices typically rely on rigid-link manipulator design concepts. In this paper we outline our design for a new kinesthetic haptic system that drastically increases the usable haptic workspace. We present a proof-of-concept prototype, along with our analysis of its capabilities. Our design uses optical tracking to sense the position of the device, and air jet actuation to generate forces. By combining these two technologies, we are able to detach our device from the ground, thus sidestepping many problems that have plagued traditional haptic devices including workspace size, friction, and inertia. Disciplines Engineering | Mechanical EngineeringWe show that optical tracking and air jet actuation successfully enable kinesthetic haptic interaction with virtual environments. Given an appropriately large volume high-pressure air source, and a reasonably high speed tracking system, this design paradigm has many desirable qualities when compared to traditional haptic design schemes.

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An Experimental Study of the Limitations of Mobile Haptic Interfaces

Cited by 20 publications

References 7 publications

Haptic-Enabled Handheld Mobile Robots

Haptic-Enabled Handheld Mobile Robots

Windfield

The AirWand: Design and characterization of a large-workspace haptic device

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