Large Workspace Haptic Devices for Human-Scale Interaction: A Survey

Gosselin, Florian; Andriot, Claude; Savall, Joan; Martin, Javier

doi:10.1007/978-3-540-69057-3_66

Cited by 13 publications

(10 citation statements)

References 9 publications

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“…Some devices, such as the SPIDAR, are specifically designed for large workspaces without modification [3]. Other techniques involve physical modifications to the haptic device, which allow the device to travel within the virtual environment [4][5][6][7][8][9][10]. The focus of this paper is on increasing the haptic workspace of a fixed-base haptic device, such as the Haption Virtuose TM 6D35-45 in a CAVE with displays on two walls plus the floor as shown in Fig.…”

Section: Increasing the Haptic Workpace For Ground-based Devicesmentioning

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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Section: Increasing the Haptic Workpace For Ground-based Devicesmentioning

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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“…Three open-source third-party libraries were modified to support use on AVR microcontrollers during the course of this work. The STLport C++ standard library implementation was ported to AVR, and the modified version is publicly available 4 with instructions for use in the Arduino environment. Some AVR-specific porting and Arduino convenience modifications were also made to the header-only portions of the Boost C++ libraries version 1.51.0, released 5 , and used in the embedded software.…”

Section: Mecanum-style Drivementioning

confidence: 99%

“…One of the strengths of this design is that the size of the frame determines the extent of the force and torque feedback area, and the frame can be built to encompass very large spaces. However, these systems can be complex to control, and the same cables that offer such freedom of workspace size also present singularities which limit the orientations that are reachable and provide feedback [4].…”

Section: Introductionmentioning

confidence: 99%

“…They investigated the performance of those bases and the functioning of the combined control scheme through the use of a simulated user input to the haptic device. Despite the results of the work of Nitzsche et al and Barbagli et al, Gosselin et al de-emphasized the category of haptic devices with mobile bases in the general search for large-workspace haptic interaction in a 2008 review of the field [4], citing problems with slip and the negative visual impact of using such devices in a projectionscreen environment. However, alternate robot types and control schemes for mobile haptics interfaces have yet to be explored, thus providing motivation for the current research presented in this paper.…”

Section: Introductionmentioning

confidence: 99%

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Interacting With a Large Virtual Environment by Combining a Ground-Based Haptic Device and a Mobile Robot Base

Pavlik

Vance

Luecke

2013

Volume 2B: 33rd Computers and Information in Engineering Conference

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Ground-based haptic devices provide the capability of adding force feedback to virtual environments; however, the physical workspace of such devices is very limited due to the fixed base. By mounting a haptic device on a mobile robot, rather than a fixed stand, the reachable volume can be extended to function in fullscale virtual environments. This work presents the hardware, software, and integration developed to use such a mobile base with a Haption Virtuose™ 6D35-45. A mobile robot with a Mecanum-style omni-directional drive base and an Arduino-compatible microcontroller development board communicates with software on a host computer to provide a VRPN-based control and data acquisition interface. The position of the mobile robot in the physical space is tracked using an optical tracking system. The SPARTA virtual assembly software was extended to 1) apply transformations to the haptic device data based on the tracked base position, and 2) capture the error between the haptic device's end effector and the center of its workspace and command the robot over VRPN to minimize this error. The completed system allows use of the haptic device in a wide area projection screen or head-mounted display virtual environment, providing smooth free-space motion and stiff display of forces to the user throughout the entire space. The availability of haptics in large immersive environments can contribute to future advances in virtual assembly planning, factory simulation, and other operations where haptics is an essential part of the simulation experience. Disciplines Graphics and Human Computer Interfaces | Mechanical Engineering ABSTRACTGround-based haptic devices provide the capability of adding force feedback to virtual environments; however, the physical workspace of such devices is very limited due to the fixed base. By mounting a haptic device on a mobile robot, rather than a fixed stand, the reachable volume can be extended to function in full-scale virtual environments. This work presents the hardware, software, and integration developed to use such a mobile base with a Haption Virtuose™ 6D35-45. A mobile robot with a Mecanum-style omni-directional drive base and an Arduino-compatible microcontroller development board communicates with software on a host computer to provide a VRPNbased control and data acquisition interface. The position of the mobile robot in the physical space is tracked using an optical tracking system. The SPARTA virtual assembly software was extended to 1) apply transformations to the haptic device data based on the tracked base position, and 2) capture the error between the haptic device's end effector and the center of its workspace and command the robot over VRPN to minimize this error. The completed system allows use of the haptic device in a wide area projection screen or head-mounted display virtual environment, providing smooth free-space motion and stiff display of forces to the user throughout the entire space. The availability of haptics in large immersive environments can cont...

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“…These actions are made possible by the implementation of a virtual reality platform composed of a 3D immersive display, tools for motion capture, a haptic arm [13], a data glove [26] and a software layer allowing the implementation and the running of interactive real-time scenarios which enables the association of manipulation properties to the 3D objects stemming from a CAD model of an industrial system. The contribution is three-fold:…”

Section: Introductionmentioning

confidence: 99%

Using virtual reality and 3D industrial numerical models for immersive interactive checklists

Fillatreau

Fourquet

Bolloc'h

et al. 2013

Computers in Industry

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Large Workspace Haptic Devices for Human-Scale Interaction: A Survey

Cited by 13 publications

References 9 publications

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

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

Interacting With a Large Virtual Environment by Combining a Ground-Based Haptic Device and a Mobile Robot Base

Using virtual reality and 3D industrial numerical models for immersive interactive checklists

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