Expanding Haptic Workspace for Coupled-Object Manipulation

Pavlik, Ryan A.; Vance, Judy M.

doi:10.1115/winvr2011-5585

Cited by 10 publications

(10 citation statements)

References 18 publications

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“…The Phantom Omni R and 5DT glove can be seen in Figure 2. The application was developed using SPARTA (Scriptable Platform for Advanced Research in Teaching and Assembly) [41]. SPARTA combines VR Juggler [42] for stereoscopic rendering, OpenSceneGraph for graphics, Voxmap PointShell (VPS) [43] for physics calculations, and VR JuggLua [44] for easy scripting and content creation.…”

Section: Hardware/softwarementioning

confidence: 99%

Virtual Training: Learning Transfer of Assembly Tasks

Carlson

Peters

Gilbert

et al. 2015

IEEE Trans. Visual. Comput. Graphics

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In training assembly workers in a factory, there are often barriers such as cost and lost productivity due to shutdown. The use of virtual reality (VR) training has the potential to reduce these costs. This research compares virtual bimanual haptic training versus traditional physical training and the effectiveness for learning transfer. In a mixed experimental design, participants were assigned to either virtual or physical training and trained by assembling a wooden burr puzzle as many times as possible during a twenty minute time period.After training, participants were tested using the physical puzzle and were retested again after two weeks. All participants were trained using brightly colored puzzle pieces. To examine the effect of color, testing involved the assembly of colored physical parts and natural wood colored physical pieces. Spatial ability as measured using a mental rotation test, was shown to correlate with the number of assemblies they were able to complete in the training. While physical training outperformed virtual training, after two weeks the virtually trained participants actually improved their test assembly times. The results suggest that the color of the puzzle pieces helped the virtually trained participants in remembering the assembly process. Disciplines Computer-Aided Engineering and Design | Graphics and Human Computer Interfaces | Other Mechanical EngineeringComments This is a manuscript of an article from IEEE Transactions on Visualization and Computer Graphics (2014) Abstract-In training assembly workers in a factory, there are often barriers such as cost and lost productivity due to shutdown. The use of virtual reality (VR) training has the potential to reduce these costs. This research compares virtual bimanual haptic training versus traditional physical training and the effectiveness for learning transfer. In a mixed experimental design, participants were assigned to either virtual or physical training and trained by assembling a wooden burr puzzle as many times as possible during a twenty minute time period. After training, participants were tested using the physical puzzle and were retested again after two weeks. All participants were trained using brightly colored puzzle pieces. To examine the effect of color, testing involved the assembly of colored physical parts and natural wood colored physical pieces. Spatial ability as measured using a mental rotation test, was shown to correlate with the number of assemblies they were able to complete in the training. While physical training outperformed virtual training, after two weeks the virtually trained participants actually improved their test assembly times. The results suggest that the color of the puzzle pieces helped the virtually trained participants in remembering the assembly process.

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Section: Hardware/softwarementioning

confidence: 99%

Virtual Training: Learning Transfer of Assembly Tasks

Carlson

Peters

Gilbert

et al. 2015

IEEE Trans. Visual. Comput. Graphics

Self Cite

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“…The present work was implemented in SPARTA, the Scriptable Platform for Research and Teaching in Assembly [17]. This application, the successor to SHARP [18], provides a virtual reality environment where arbitrary CAD models can be loaded and manipulated using physically based modeling and haptic force feedback.…”

Section: Implementation Platformmentioning

confidence: 99%

Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique

Pavlik

Vance

2015

Journal of Computing and Information Science in Engineering

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Haptic force-feedback can provide useful cues to users of virtual environments. Bodybased haptic devices are portable but the more commonly used ground-based devices have workspaces that are limited by their physical grounding to a single base position and their operation as purely position-control devices. The "bubble technique" has recently been presented as one method of expanding a user's haptic workspace. The bubble technique is a hybrid position-rate control system in which a volume, or "bubble," is defined entirely within the physical workspace of the haptic device. When the device's end effector is within this bubble, interaction is through position control. When the end effector moves outside this volume, an elastic restoring force is rendered, and a rate is applied that moves the virtual accessible workspace. Publications have described the use of the bubble technique for point-based touching tasks. However, when this technique is applied to simulations where the user is grasping virtual objects with part-to-part collision detection, unforeseen interaction problems surface. Methods of addressing these challenges are introduced, along with discussion of their implementation and an informal investigation.

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“…The manipulation of virtual objects and physics-based calculations are managed by a program called SPARTA: Scriptable Platform for Advanced Research and Teaching in Assembly [35]. Through SPARTA, physically modeled virtual objects may interact within the workspace.…”

Section: Supportingmentioning

confidence: 99%

Disassembly Sequence Evaluation: A User Study Leveraging Immersive Computing Technologies

Berg

Behdad

Vance

et al. 2015

Journal of Computing and Information Science in Engineering

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As interest in product recovery, reuse, and recycling rises, planning and evaluating disassembly sequences are becoming increasingly important. The manner in which a product can be taken apart strongly influences endof-life (EOL) operations and costs. Early disassembly planning can also inform non-EOL processes including repair and routine maintenance. Recently, research has concentrated on creating optimization algorithms which automatically generate disassembly sequences. These algorithms often require data that are unavailable or estimated with high uncertainty. Furthermore, industries often employ CAD modeling software to evaluate disassembly sequences during the design stage. The combination of these methods result in mathematically generated solutions, however, the solutions may not account for attributes that are difficult to quantify (human interaction). To help designers better explore and understand disassembly sequence opportunities, the research presented in this paper combines the value of mathematical modeling with the benefits of immersive computing technologies (ICT) to aid in early design decision making. For the purposes of this research, an ICT application was developed. The application displays both 3D geometry of a product and an interactive graph visualization of existing disassembly sequences. The user can naturally interact with the geometric models and explore sequences outlined in the graph visualization. The calculated optimal path can be highlighted allowing the user to quickly compare the optimal sequence against alternatives. The application has been implemented in a three wall immersive projection environment. A user study involving a hydraulic pump assembly was conducted. The results suggest that this approach may be a viable method of evaluating disassembly sequences early in design. As interest in product recovery, reuse, and recycling rises, planning and evaluating disassembly sequences are becoming increasingly important. The manner in which a product can be taken apart strongly influences end-of-life (EOL) operations and costs. Early disassembly planning can also inform non-EOL processes including repair and routine maintenance. Recently, research has concentrated on creating optimization algorithms which automatically generate disassembly sequences. These algorithms often require data that are unavailable or estimated with high uncertainty. Furthermore, industries often employ CAD modeling software to evaluate disassembly sequences during the design stage. The combination of these methods result in mathematically generated solutions, however, the solutions may not account for attributes that are difficult to quantify (human interaction). To help designers better explore and understand disassembly sequence opportunities, the research presented in this paper combines the value of mathematical modeling with the benefits of immersive computing technologies (ICT) to aid in early design decision making. For the purposes of this research, an ICT application was developed. ...

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Expanding Haptic Workspace for Coupled-Object Manipulation

Cited by 10 publications

References 18 publications

Virtual Training: Learning Transfer of Assembly Tasks

Virtual Training: Learning Transfer of Assembly Tasks

Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique

Disassembly Sequence Evaluation: A User Study Leveraging Immersive Computing Technologies

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