Design and evaluation of a high-performance haptic interface

Ellis, Randy E.; Ismaeil, O.M.; Lipsett, Michael G.

doi:10.1017/s0263574700019639

Cited by 120 publications

(77 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Some of these methods employ only algorithm validation and comparison based on rendering realism [5], [6], whereas some others studied control design and evaluation for haptic interfaces [7], [8], [9]. Several projects [10], [11] evaluated particular haptic devices based on technical performance metrics given by Hayward and Astley [12]. There are many human factor studies to asses the benefits of haptic feedback on sensory-motor control tasks.…”

Section: A State Of the Artmentioning

confidence: 99%

Generic and systematic evaluation of haptic interfaces based on testbeds

Samur

Wang

Spaelter

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-The purpose of evaluation procedures is to achieve both qualitative and quantitative statements on haptic rendering realism and performance. Since a haptic interface provides an interaction between a user and a virtual environment, fidelity of a haptic interface directly affects the performance. To our knowledge, a standard, generic and reusable validation method which comprehensively addresses all the attributes of haptic feedback has not been realized yet. Despite the large number of human factor studies, only few of them have been proposed as well for haptic interface performance measurements. For this reason, we review validation procedures for haptic rendering and propose an evaluation method based on testbeds to obtain a systematic haptic interface assessment. We integrated the approaches of human factor studies into the testbeds to obtain a simple and yet complete measure of human-machine interaction performance. The testbeds were tested on a haptic interface, the IHP of Xitact SA, and performance results are presented. In the testbeds, performance metrics for generic haptic interaction tasks are expressed in terms of information transfer (bits) and sensory thresholds which are indeed device specific benchmark metrics. Thus, the suitability of a haptic interface for a defined task can be verified, device comparisons become possible and the obtained information can be used to identify possible improvements.

show abstract

Section: A State Of the Artmentioning

confidence: 99%

Generic and systematic evaluation of haptic interfaces based on testbeds

Samur

Wang

Spaelter

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…Another largely overlooked factor is maximum acceleration. In emulating stiff walls, for example, the maximum acceleration is critical yet only a couple of the haptic devices we studied gave this performance measure [6].…”

Section: A Plethora Of Performance Measuresmentioning

confidence: 99%

Performance Measures for Haptic Interfaces

1996

View full text Add to dashboard Cite

A haptic interface is distinct from other display devices because it is bi-directional; it is capable of both reading and writing input to and from a human user. Due to both the direct human interaction and bi-directionality there has been much ambiguity in describing and evaluating these devices, making evaluation and comparison difficult. The goal of this paper is to set out requirements and guidelines for the performance measures of haptic devices and to hopefully lead towards resolving the current equivocal situation. In particular, performance measures are introduced which have so far not been pertinent in traditional robotics; these include, peak force, peak acceleration and frequency dependent measurements. Performance measures often quoted in traditional robotics are also discussed, however, the focus and relevance of these measures are different in haptic devices. Each of the suggested performance measures in this paper is discussed with respect to its importance, its measurabilty and the condition under which it should be measured.

show abstract

“…It is a challenging computational problem due to the high dimensionality of the underlying search Interactive systems provide a 3D virtual environment, where the user interacts with the virtual molecules, and performs a knowledge-guided search and selection 15 of the final binding pose. Interactive docking is not able to search a large number of docking pairs as in automated docking.…”

Section: Introductionmentioning

confidence: 99%

“…It has been shown that such docking systems can reduce incorrect binding poses [10], and improve the users' (experts or students of structural biology) understanding of the process of molecular binding [11,12]. sponses, modern haptic technology requires haptic feedback cues to be updated at a refresh rate of 500Hz to 1 kHz due to the sensitivity of the human haptic system [13] [14] [15]. When this rate is not met device vibrations and force discontinuities can occur limiting practical use.…”

Section: Introductionmentioning

confidence: 99%

Adaptive GPU-accelerated force calculation for interactive rigid molecular docking using haptics

Iakovou

Hayward

Laycock

2015

Journal of Molecular Graphics and Modelling

View full text Add to dashboard Cite

Molecular docking systems model and simulate in silico the interactions of intermolecular binding. Haptics-assisted docking enables the user to interact with the simulation via their sense of touch but a stringent time constraint on the computation of forces is imposed due to the sensitivity of the human haptic system.To simulate high fidelity smooth and stable feedback the haptic feedback loop should run at rates of 500Hz to 1kHz. We present an adaptive force calculation approach that can be executed in parallel on a wide range of Graphics Processing Units (GPUs) for interactive haptics-assisted docking with wider applicability to molecular simulations. Prior to the interactive session either the regular grid or an octree is selected according to the available GPU memory to determine the set of interatomic interactions within a cutoff distance. The total force is then calculated from this set. The approach can achieve force updates in less than 2ms for molecular structures comprising hundreds of thousands of atoms each, with performance improvements of up to 90 times the speed of current CPU-based force calculation approaches used in interactive docking. Furthermore, it overcomes * Corresponding author Email addresses: sjh@cmp.uea.ac.uk (Steven Hayward), s.laycock@uea.ac.uk (Stephen D. Laycock) Graphics and Modelling June 8, 2015 several computational limitations of previous approaches such as pre-computed force grids, and could potentially be used to model receptor flexibility at haptic refresh rates. Preprint submitted to Journal of Molecular

show abstract

Design and evaluation of a high-performance haptic interface

Cited by 120 publications

References 12 publications

Generic and systematic evaluation of haptic interfaces based on testbeds

Generic and systematic evaluation of haptic interfaces based on testbeds

Performance Measures for Haptic Interfaces

Adaptive GPU-accelerated force calculation for interactive rigid molecular docking using haptics

Contact Info

Product

Resources

About