Model Based Compensation for Low Mass Objects Haptic Manipulation in Virtual Environments

Biomechanical fidelity assessment of a pick and place task with haptic feedback in virtual reality

“…Subjective results were very similar to the results presented in (Sagardia and Hulin 2017) and in (Hilt et al 2017). The increase in speed led to a decrease in subjective realism (-0.2 ± 0.1) and perceived effort (-0.2 ± 0.1) with the interaction of the HI.…”

“…Subjects performed a total of 48 sequences of 6 pick and place movements of a real object or a virtual object through a HI (Table 1) after 5 minutes of free testing the devices (VR and HI). HI was a Virtuose6D from Haption ( Figure 1) and was used with and without a custom intrinsic inertial and viscous friction compensation of the HI (Hilt et al 2017). The viscous friction was set to 3 N.s/m for the two horizontal axes.…”

Biomechanical Fidelity of Simulated Pick-and-Place Tasks: Impact of Visual and Haptic Renderings

“…On can suppose that the effects of inertia and friction of the HI were added to the effects of inertia of the object. The subjective questionnaire evidenced that the feeling of effort during the task was more important when using the HI, as already explained in [19] for low masses manipulations. On the other hand, the synthetic haptic interaction led to a decrease in the AAH and thus in the total length of the trajectory TL.…”

“…The virtual object to handle was designed from the real object and mass properties were applied from those of the -estimated -real object. Even if we reported the same order of amplitude for real and virtual forces arising from this object manipulation in [19], differences in mass properties between real and virtual object may have an impact on the behavior of the subject.…”

“…1) between the HI and the physics engine was provided by a virtual spring-damper of 250N.m −1 stiffness and 15N.s.m −1 damping. This setting was obtained from a previous study [19] and a pilot experiment. This coupling and the physics engine were running at 250Hz due to computing power limitations.…”