Haptic orientation guidance using two parallel double-gimbal control moment gyroscopes

Abstract

This paper presents a system of two double-gimbal control moment gyroscopes (CMGs) for providing ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite the first, and rotating them through opposite trajectories, undesired gyroscopic effects can be eliminated, isolating a single torque axis. This produces a moment pulse proportional to the flywheel spin speed and rotation speed. Rotating the CMG gimbals quickly in one direction, then resetting them more slowly generates repeated torque pulses indicating a clear direction cue. We present the mathematical model for moments produced by this system and verify that the performance of our device matches this model. Using these asymmetric moment pulses, we provide haptic cues to participants in two studies. In the first study, users simply identify the direction of torque cues. In the second study, we use the torque pulses to guide users to target orientations. Performance in both studies shows that this system has the potential to provide useful guidance for applications where ungrounded haptic feedback is desired.

HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic Feedback

“…Some studies explored adding a mechanical brake to the flywheel to generate directional force feedback on wearable devices to provide directional guidance [17,18]. Other examples use multiple gyros to counteract undesired torque effects when returning the gyro to the home position [19,20]. The results of the study by Amemiya et al [17] suggest that an angular velocity change with a sudden-start profile is more effective compared to sudden-stops.…”

From Pulse Trains to "Coloring with Vibrations"

“…In contrast, ungrounded feedback devices provide stimulation of the skin, but no force [8]. Alternative haptic rendering methods include body-grounded devices which provide force relative to the body, inertial approaches that transmit gyroscopic force [25,42], or focused ultrasound [7]. Force can also be simulated by taking advantage of asymmetrical vibration [11].…”

Hand Guidance Using Grasping Metaphor and Wearable Haptics

“…As far as it concerns position and orientation of the human hand, many studies have been conducted on hand guidance by means of wearable haptic devices. In this aim, pseudo-attraction force [13], torque stimulus [14], shapechanging effect [15], skin stretch [16], and vibrations [5] are the most widespread haptic technologies. The majority of the aforementioned methods mainly rely on hand-held devices or make use of cues displayed in other body parts (e.g., wrist, arm, forearms, etc.).…”

“…As an example, in [13] the user experiences a kinesthetic illusion characterized by the sensation of being continuously pushed or pulled by the device. Similarly, Walker et al in [14] exploit ungrounded haptic feedback by spinning and rotating flywheels. This produces a moment pulse proportional to the spin and to the rotation speed.…”