Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton

Schmidt, Annika; Pereira, Aaron; Baker, Thomas J.; Pleintinger, Benedikt; Hulin, Thomas; Chen, Zhaopeng; Abbink, David A.; Lii, Neal Y.

doi:10.1109/smc42975.2020.9283274

Cited by 3 publications

(5 citation statements)

References 31 publications

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“…Nevertheless, it was clear that subjects were able to distinguish these properties. Furthermore, the Weber fraction of 0.29 for friction is close to that found for fluids with high viscosity in real experiments [26] as well as in a haptic setup [4].…”

Section: B Discussionsupporting

confidence: 80%

“…Moving a tool through regolith, in contrast to fluid, not only deforms, but also compacts the regolith, changing its material properties. Recent work shows that even when rendering only characteristic properties such as viscosity [4], or inertia [5], [6], users can perceive media to be convincingly fluid. This begs the question: could a simplified model suffice for regolith interaction?…”

Section: Introductionmentioning

confidence: 99%

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Efficient Haptic Rendering of Regolith

Pereira

Schmidt

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Driven by the need for physically accurate and haptically convincing models of lunar and planetary regolith for model-mediated teleoperation in space, we present an approach to modelling regolith in an efficient yet realistic way. Model parameters are derived from physical characteristics of the regolith, to render regoliths with different density profiles, cohesion, internal friction and in different gravitational fields.Users could distinguish between changes in parametersspecifically friction and gravity field-and also gave qualitative feedback relevant to modelling regolith. We discuss the challenges in haptically rendering soils and the next steps.

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Section: B Discussionsupporting

confidence: 80%

Section: Introductionmentioning

confidence: 99%

Efficient Haptic Rendering of Regolith

Pereira

Schmidt

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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“…Despite the physical hardware limitations restricting the rendering of very low viscosity such as that of water, users were able to perceive media as fluid in the virtual environment and could clearly distinguish these from solids. In a user study ( Schmidt et al, 2020 ), the viscosities between 1 and 30 Pa s were achieved stably on the Exodex. Especially in the higher viscosity range, the participants were able to distinguish different rendered fluid viscosities as in real-life experiments, with a Weber fraction of .3.…”

Section: Exodex Deployment and Evaluationmentioning

confidence: 97%

“…When used in combination with the Exodex, the LWR is controlled in torque mode, compensating only for its weight and compliant to external torques. Attaching the Exodex to the end effector and compensating for its weight means that the Exodex behaves as a floating object in zero-gravity, except that the inertia of the system and a small amount of friction is felt by the user ( Schmidt et al, 2020 ). Forces exerted by the robotic fingers of the Exodex on the human hand leads to a movement of the base of the Exodex if not also counteracted by the LWR (see Figure 12 ).…”

Section: User State Estimation and Controlmentioning

confidence: 99%

“…For the liquid media, only viscosity forces were rendered, which mainly stimulate proprioceptive and kinesthetic senses, while other fluid cues require cutaneous and temperature sensing. The viscosity forces were calculated based on a simplified drag equation ( Schmidt et al, 2020 ). With this trade-off in accuracy, high enough frequencies could be achieved for the viscosity rendering to run simultaneously with the solid interaction loop.…”

Section: Exodex Deployment and Evaluationmentioning

confidence: 99%

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Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand

et al. 2022

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Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.

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