2,162 research outputs found
Haptic-GeoZui3D: Exploring the Use of Haptics in AUV Path Planning
We have developed a desktop virtual reality system that we call Haptic-GeoZui3D, which brings together 3D user interaction and visualization to provide a compelling environment for AUV path planning. A key component in our system is the PHANTOM haptic device (SensAble Technologies, Inc.), which affords a sense of touch and force feedback ā haptics ā to provide cues and constraints to guide the userās interaction. This paper describes our system, and how we use haptics to significantly augment our ability to lay out a vehicle path. We show how our system works well for quickly defining simple waypoint-towaypoint (e.g. transit) path segments, and illustrate how it could be used in specifying more complex, highly segmented (e.g. lawnmower survey) paths
Expanding Haptic Workspace for Coupled-Object Manipulation
Haptic force-feedback offers a valuable cue in exploration and manipulation of virtual environments. However, grounding of many commercial kinesthetic haptic devices limits the workspace accessible using a purely position-control scheme. The bubble technique has been recently presented as a method for expanding the userās haptic workspace. The bubble technique is a hybrid position-rate control system in which a volume, or ābubble,ā is defined entirely within the physical workspace of the haptic device. When the deviceās end effector is within this bubble, interaction is through position control. When exiting this volume, an elastic restoring force is rendered, and a rate is applied that moves the virtual accessible workspace. Existing work on the bubble technique focuses on point-based touching tasks. When the bubble technique is applied to simulations where the user is grasping virtual objects with part-part collision detection, unforeseen interaction problems surface. This paper discusses three details of the user experience of coupled-object manipulation with the bubble technique. A few preliminary methods of addressing these interaction challenges are introduced
Augmenting User Interfaces with Haptic Feedback
Computer assistive technologies have developed considerably over the past decades.
Advances in computer software and hardware have provided motion-impaired operators
with much greater access to computer interfaces. For people with motion
impairments, the main diļæ½culty in the communication process is the input of data
into the system. For example, the use of a mouse or a keyboard demands a high level
of dexterity and accuracy. Traditional input devices are designed for able-bodied
users and often do not meet the needs of someone with disabilities. As the key feature
of most graphical user interfaces (GUIs) is to point-and-click with a cursor this
can make a computer inaccessible for many people.
Human-computer interaction (HCI) is an important area of research that aims
to improve communication between humans and machines. Previous studies have
identiļæ½ed haptics as a useful method for improving computer access. However, traditional
haptic techniques suļæ½er from a number of shortcomings that have hindered
their inclusion with real world software. The focus of this thesis is to develop haptic
rendering algorithms that will permit motion-impaired operators to use haptic assistance
with existing graphical user interfaces. The main goal is to improve interaction
by reducing error rates and improving targeting times. A number of novel haptic
assistive techniques are presented that utilise the three degrees-of-freedom (3DOF)
capabilities of modern haptic devices to produce assistance that is designed speciļæ½-
cally for motion-impaired computer users. To evaluate the eļæ½ectiveness of the new
techniques a series of point-and-click experiments were undertaken in parallel with
cursor analysis to compare the levels of performance. The task required the operator
to produce a predeļæ½ned sentence on the densely populated Windows on-screen keyboard
(OSK). The results of the study prove that higher performance levels can be
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achieved using techniques that are less constricting than traditional assistance
Doctor of Philosophy
dissertationVirtual environments provide a consistent and relatively inexpensive method of training individuals. They often include haptic feedback in the form of forces applied to a manipulandum or thimble to provide a more immersive and educational experience. However, the limited haptic feedback provided in these systems tends to be restrictive and frustrating to use. Providing tactile feedback in addition to this kinesthetic feedback can enhance the user's ability to manipulate and interact with virtual objects while providing a greater level of immersion. This dissertation advances the state-of-the-art by providing a better understanding of tactile feedback and advancing combined tactilekinesthetic systems. The tactile feedback described within this dissertation is provided by a finger-mounted device called the contact location display (CLD). Rather than displaying the entire contact surface, the device displays (feeds back) information only about the center of contact between the user's finger and a virtual surface. In prior work, the CLD used specialized two-dimensional environments to provide smooth tactile feedback. Using polygonal environments would greatly enhance the device's usefulness. However, the surface discontinuities created by the facets on these models are rendered through the CLD, regardless of traditional force shading algorithms. To address this issue, a haptic shading algorithm was developed to provide smooth tactile and kinesthetic interaction with general polygonal models. Two experiments were used to evaluate the shading algorithm. iv To better understand the design requirements of tactile devices, three separate experiments were run to evaluate the perception thresholds for cue localization, backlash, and system delay. These experiments establish quantitative design criteria for tactile devices. These results can serve as the maximum (i.e., most demanding) device specifications for tactile-kinesthetic haptic systems where the user experiences tactile feedback as a function of his/her limb motions. Lastly, a revision of the CLD was constructed and evaluated. By taking the newly evaluated design criteria into account, the CLD device became smaller and lighter weight, while providing a full two degree-of-freedom workspace that covers the bottom hemisphere of the finger. Two simple manipulation experiments were used to evaluate the new CLD device
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