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. Attached Files Name Description MIMEType Size Downloads Title Enabling multi-point haptic grasping in virtual environments Author(s) Ang, Quan-Zen Horan, Ben orcid.org/0000-0002-6723-259X Najdovski, Zoran orcid.org/0000-0002-8880-8287 Nahavandi, Saeid orcid.org/0000-0002-0360-5270 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 Total pages 4 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 1457700646 9781457700644 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 Collections: Institute for Intelligent Systems Research and Innovation (IISRI) GTP Research Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Tue, 14 Feb 2012, 15:20:03 EST Thu, 15 Mar 2012, 08:31:25 EST Thu, 15 Mar 2012, 08:44:53 EST Thu, 22 Mar 2012, 14:59:34 EST Fri, 23 Mar 2012, 08:30:47 EST Fri, 23 Mar 2012, 08:32:53 EST Mon, 26 Mar 2012, 08:21:29 EST Tue, 28 Jan 2014, 11:57:30 EST Wed, 16 Jul 2014, 11:03:55 EST Wed, 27 Aug 2014, 22:53:12 EST Fri, 17 Oct 2014, 11:17:17 EST Mon, 19 Jan 2015, 11:30:47 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 6 times in Scopus Search Google Scholar Access Statistics: 759 Abstract Views, 9 File Downloads  -  Detailed Statistics Created: Tue, 14 Feb 2012, 15:20:03 EST

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