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Enabling multi-point haptic grasping in virtual environments
conference contribution
posted on 2011-01-01, 00:00 authored by Quan-Zen Ang, Ben HoranBen Horan, Zoran NajdovskiZoran Najdovski, Saeid NahavandiHaptic 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.
History
Event
IEEE Symposium on 3D User Interfaces (6th : 2011 : Singapore, Singapore)Pagination
55 - 58Publisher
IEEELocation
Singapore, SingaporePlace of publication
[Singapore, Singapore]Start date
2011-03-19End date
2011-03-20ISBN-13
9781457700644ISBN-10
1457700646Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2011, IEEETitle of proceedings
3DUI 2011 - IEEE Symposium on 3D User Interfaces 2011, ProceedingsUsage metrics
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