Novel devices and interaction techniques for human-scale haptics

Dominjon, Lionel; Perret, Jérôme; Lécuyer, Anatole

doi:10.1007/s00371-007-0100-4

Cited by 37 publications

(40 citation statements)

References 14 publications

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“…Desktop devices are the most accessible but they suffer from small workspaces because of their grounded nature and the limited range of their effector (Iwata, 1990). "Human-scale" haptic interfaces have been designed to accompany users within a larger physical space (Dominjon et al, 2007) but they are more bulky and costly. Another option to increase the user's mobility is to directly mount the interface on his body, as is the case for haptic exoskeletons.…”

Section: Active Haptic Devicesmentioning

confidence: 99%

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Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

Achibet

Girard

Marchal

et al. 2016

Presence: Teleoperators and Virtual Environments

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International audienceHaptic feedback is known to improve 3D interaction in virtual environments but current haptic interfaces remain complex and tailored to desktop interaction. In this paper, we describe an alternative approach called “Elastic-Arm” for incorporating haptic feedback in immersive virtualenvironments in a simple and cost-effective way. The Elastic-Arm is based on a body-mounted elastic armature that links the users hand to his body and generates a progressive egocentric force when extending the arm. A variety of designs can be proposed with multiple links attached tovarious locations on the body in order to simulate different haptic properties and sensations such as different levels of stiffness, weight lifting, bimanual interaction, etc. Our passive haptic approach can be combined with various 3D interaction techniques and we illustrate the possibilities offered by the Elastic-Arm through several use cases based on well-known techniques such as the Bubble technique, redirected touching, and pseudo-haptics. A user study was conducted which showed the effectiveness of our pseudo-haptic technique as well as the general appreciation of the Elastic-Arm. We believe that the Elastic-Arm could be used in various VR applications which call for mobile haptic feedback or human-scale haptic sensations

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Section: Active Haptic Devicesmentioning

confidence: 99%

“…Several "human-scale" haptic interfaces have been designed for larger workspaces (Dominjon, Perret, & Lécuyer, 2007) but the resulting hardware is often expensive and cumbersome. Thus, in most cases, haptic devices limit the mobility of the users, which prevents their use in large immersive spaces.…”

mentioning

confidence: 99%

Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

Achibet

Girard

Marchal

et al. 2016

Presence: Teleoperators and Virtual Environments

Self Cite

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“…Scaling increases the reachable workspace and eases coarse manipulation, but makes fine manipulation more difficult. Pioneered by Dominjon et al [12,13], the bubble technique is a hybrid haptic control technique for expanding the haptic workspace. It supports fine manipulation as well as access to a larger effective working volume by moving the workspace under some conditions.…”

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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“…A straightforward and general approach consists in increasing the workspace provided by the devices, either by using large serial linkages, string-based devices with large frames, or redundant degrees of freedom (DoF) [7]. For unimanual interaction, human-scale devices could be developed using that approach.…”

Section: Hardware and Software Limitations For Bimanual Hapticsmentioning

confidence: 99%

3D Interaction Techniques for Bimanual Haptics in Virtual Environments

Talvas

Marchal

Cirio

et al. 2013

Springer Series on Touch and Haptic Systems

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Bimanual haptics is a specific kind of multi-finger interaction that focuses on the use of both hands simultaneously. Several haptic devices permit this form of interaction, but they are subject to a certain number of limitations for interacting with virtual environments (VEs), notably workspace size issues and manipulation difficulties with single-point interfaces. Interaction techniques exist to overcome these limitations and allow users to perform specific two-handed tasks, such as the bimanual exploration of large VEs and grasping of virtual objects. These interaction techniques will be reviewed in this chapter.

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Novel devices and interaction techniques for human-scale haptics

Cited by 37 publications

References 14 publications

Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

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

3D Interaction Techniques for Bimanual Haptics in Virtual Environments

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