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Enabling multi-point haptic grasping in virtual environments

Ang, Quan-Zen, Horan, Ben, Najdovski, Zoran and Nahavandi, Saeid 2011, Enabling multi-point haptic grasping in virtual environments, in 3DUI 2011 - IEEE Symposium on 3D User Interfaces 2011, Proceedings, IEEE, [Singapore, Singapore], pp. 55-58.

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Title Enabling multi-point haptic grasping in virtual environments
Author(s) Ang, Quan-Zen
Horan, Ben
Najdovski, Zoran
Nahavandi, Saeid
Conference name IEEE Symposium on 3D User Interfaces (6th : 2011 : Singapore, Singapore)
Conference location Singapore, Singapore
Conference dates 19-20 Mar. 2011
Title of proceedings 3DUI 2011 - IEEE Symposium on 3D User Interfaces 2011, Proceedings
Editor(s) [Unknown]
Publication date 2011
Conference series IEEE Symposium on 3D User Interfaces
Start page 55
End page 58
Publisher IEEE
Place of publication [Singapore, Singapore]
Keyword(s) CHAI 3D
haptic grasp
haptic gripper
multi-point haptic
object manipulation
virtual reality
Summary Haptic interaction has received increasing research interest in recent years. Currently, most commercially available haptic devices provide the user with a single point of interaction. Multi-point haptic devices present a logical progression in device design and enable the operator to experience a far wider range of haptic interactions, particularly the ability to grasp via multiple fingers. This is highly desirable for various haptically enabled applications including virtual training, telesurgery and telemanipulation. This paper presents a gripper attachment which utilises two low-cost commercially available haptic devices to facilitate multi-point haptic grasping. It provides the ability to render forces to the user's fingers independently and using Phantom Omni haptic devices offers several benefits over more complex approaches such as low-cost, reliability, and ease of programming. The workspace of the gripper attachment is considered and in order to haptically render the desired forces to the user's fingers, kinematic analysis is discussed and necessary formulations presented. The integrated multi-point haptic platform is presented and exploration of a virtual environment using CHAI 3D is demonstrated.
ISBN 9781457700620
9781457700644
9781457700637
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 861699 Computer Hardware and Electronic Equipment not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2011, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30042226

Document type: Conference Paper
Collection: Centre for Intelligent Systems Research
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