We present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom (dofs)  with  tactile  feedback.  The  goals  corresponding  to  design  issues, physiological  behaviors,  include  the  choice  of  sensors’  technology  and  their position  on  the  device,  low  forces  exerted  while  using  the  device,  relevant multi-sensorial feedback, performance of achieved tasks

CHARDONNET, Jean-Rémy

LEON, Jean-Claude

English

International audienceWe present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom (dofs) with tactile feedback. The goals corresponding to design issues, physiological behaviors, include the choice of sensors' technology and their position on the device, low forces exerted while using the device, relevant multi-sensorial feedback, performance of achieved tasks

Chardonnet, Jean-Rémy

Léon, Jean-Claude

INRIA a CCSD electronic archive server

HAL Id: hal-00772414https://hal.archives-ouvertes.fr/hal-00772414Submitted on 10 Jan 2013HAL is a multi-disciplinary open accessarchive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come fromteaching and research institutions in France orabroad, or from public or private research centers.L’archive ouverte pluridisciplinaire HAL, estdestinée au dépôt et à la diffusion de documentsscientifiques de niveau recherche, publiés ou non,émanant des établissements d’enseignement et derecherche français ou étrangers, des laboratoirespublics ou privés.Monitoring a Realistic Virtual Hand using a PassiveHaptic Device to Interact with Virtual WorldsJean-Rémy Chardonnet, Jean-Claude LéonTo cite this version:Jean-Rémy Chardonnet, Jean-Claude Léon. Monitoring a Realistic Virtual Hand using a PassiveHaptic Device to Interact with Virtual Worlds. JVRC 2012 - Joint Virtual Conference of ICAR-EGVE-EuroVR, Oct 2012, Madrid, Spain. pp.33-34. ￿hal-00772414￿Monitoring a Realistic Virtual Hand using a Passive Haptic Device to Interact with Virtual Worlds J.-R. CHARDONNET1 and J.-C. LEON2 1Arts et Métiers ParisTech, CNRS, Le2i, Institut Image, 71100 Chalon-sur-Saône, France          2Grenoble University, INRIA, Jean Kuntzmann Laboratory, 38041 Grenoble Cedex 9, France jean-remy.chardonnet@ensam.eu jean-claude.leon@grenoble-inp.fr Abstract. We present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom (dofs) with tactile feedback. The goals corresponding to design issues, physiological behaviors, include the choice of sensors’ technology and their position on the device, low forces exerted while using the device, relevant multi-sensorial feedback, performance of achieved tasks. Keywords: navigation device, passive haptics, interaction, manipulation. 1. Introduction Our hands are an essential tool to interact with our environments, for example to manipulate objects. However, interactions may not be easy because for the same object there are generally different possible grasping configurations. This issue still remains a great challenge in virtual reality as current devices, e.g., [1,2], and software do not allow reproducing in a natural and realistic way a grasping motion in virtual environments and they are not devoted to general audience use. Our proposed solution is based on a passive haptic feedback and a hands-on interaction. We present an extension of the HandNavigator described in [3]. Unlike [1], we conducted validation tests of the existing prototypes on grasping tasks scenarii, to obtain the design of new requirements of the HandNavigator with a more ergonomic shape, sensors improving dexterity and interactions, while integrating tactile feedback for an enhanced immersion. 2. Design of the new prototype Validation tests on previous versions pointed out several issues that are: the choice of sensors’ technology, minimization of muscular efforts and the inclusion of tactile feedback. We designed a new prototype, called V4, where several sensors are used to control each finger: a lever-switch for controlling the virtual finger in a free motion mode, with a low displacement amplitude of a real finger, a vibrator to give the user a tactile feedback when a finger touches a virtual object, and a pressure sensor for controlling the virtual finger in a constrained motion configuration (typically when the user holds a virtual object) and to give the user grasp feelings. All these sensors are integrated in a module depicted in Figure 1. There is one module for each finger, altogether four modules. A spring between the lever-switch and the pressure sensor separates free motion mode and constrained hand motion mode. We added a silicon-based coating on the device as damping material to isolate each finger and prevent vibrations from propagating in the whole structure, so that the user can immediately know which finger touches a virtual object. We tested our device on a simple scenario where the goal is to position a virtual hand on a part coming from a food processor. A comparison between the real hand configuration and the virtual one achieved using our device is depicted on Figure 2.   Figure 1. Our new prototype (on the left, a module for one finger).  Figure 2. Configuration of a real/virtual hand for object grasping. References [1] SCHLATTMAN M., KLEIN R.: (2007) Simultaneous 4 gestures 6 dof real-time two-hand tracking without any markers. In ACM symposium on Virtual Reality Software and Technology, pp. 39–42. [2] BOUZIT M., BURDEA G., POPESCU G., BOIAN R.: (2002) The Rutgers Master II-new design force-feedback glove. IEEE/ASME Transactions on Mechatronics 7, 2. [3] CHARDONNET J.-R., LÉON J.-C.: (2010) Design of an immersive peripheral for object grasping. In ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE). 

Monitoring a Realistic Virtual Hand using a Passive Haptic Device to Interact with Virtual Worlds

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Science Arts & Métiers (SAM)is an open access repository that collects the work of Arts et Métiers ParisTechresearchers and makes it freely available over the web where possible.This is an author-deposited version published in: http://sam.ensam.euHandle ID: .http://hdl.handle.net/10985/6682To cite this version :Jean-Rémy CHARDONNET, Jean-Claude LEON - Monitoring a Realistic Virtual Hand using aPassive Haptic Device to Interact with Virtual Worlds - In: Joint Virtual Conference of ICAR-EGVE-EuroVR, Spain, 2012-10-17 - Joint Virtual Reality Conference of ICAT - EGVE - EuroVR2012 - 2012Any correspondence concerning this service should be sent to the repositoryAdministrator : archiveouverte@ensam.euMonitoring a Realistic Virtual Hand using a Passive Haptic Device to Interact with Virtual Worlds J.-R. CHARDONNET1 and J.-C. LEON2 1Arts et Métiers ParisTech, CNRS, Le2i, Institut Image, 71100 Chalon-sur-Saône, France          2Grenoble University, INRIA, Jean Kuntzmann Laboratory, 38041 Grenoble Cedex 9, France jean-remy.chardonnet@ensam.eu jean-claude.leon@grenoble-inp.fr Abstract. We present a prototype of a hands-on immersive peripheral device for controlling a virtual hand with high dexterity. This prototype is as easy as a mouse to use and allows the control of a high number of degrees of freedom (dofs) with tactile feedback. The goals corresponding to design issues, physiological behaviors, include the choice of sensors’ technology and their position on the device, low forces exerted while using the device, relevant multi-sensorial feedback, performance of achieved tasks. Keywords: navigation device, passive haptics, interaction, manipulation. 1. Introduction Our hands are an essential tool to interact with our environments, for example to manipulate objects. However, interactions may not be easy because for the same object there are generally different possible grasping configurations. This issue still remains a great challenge in virtual reality as current devices, e.g., [1,2], and software do not allow reproducing in a natural and realistic way a grasping motion in virtual environments and they are not devoted to general audience use. Our proposed solution is based on a passive haptic feedback and a hands-on interaction. We present an extension of the HandNavigator described in [3]. Unlike [1], we conducted validation tests of the existing prototypes on grasping tasks scenarii, to obtain the design of new requirements of the HandNavigator with a more ergonomic shape, sensors improving dexterity and interactions, while integrating tactile feedback for an enhanced immersion. 2. Design of the new prototype Validation tests on previous versions pointed out several issues that are: the choice of sensors’ technology, minimization of muscular efforts and the inclusion of tactile feedback. We designed a new prototype, called V4, where several sensors are used to control each finger: a lever-switch for controlling the virtual finger in a free motion mode, with a low displacement amplitude of a real finger, a vibrator to give the user a tactile feedback when a finger touches a virtual object, and a pressure sensor for controlling the virtual finger in a constrained motion configuration (typically when the user holds a virtual object) and to give the user grasp feelings. All these sensors are integrated in a module depicted in Figure 1. There is one module for each finger, altogether four modules. A spring between the lever-switch and the pressure sensor separates free motion mode and constrained hand motion mode. We added a silicon-based coating on the device as damping material to isolate each finger and prevent vibrations from propagating in the whole structure, so that the user can immediately know which finger touches a virtual object. We tested our device on a simple scenario where the goal is to position a virtual hand on a part coming from a food processor. A comparison between the real hand configuration and the virtual one achieved using our device is depicted on Figure 2.   Figure 1. Our new prototype (on the left, a module for one finger).  Figure 2. Configuration of a real/virtual hand for object grasping. References [1] SCHLATTMAN M., KLEIN R.: (2007) Simultaneous 4 gestures 6 dof real-time two-hand tracking without any markers. In ACM symposium on Virtual Reality Software and Technology, pp. 39–42. [2] BOUZIT M., BURDEA G., POPESCU G., BOIAN R.: (2002) The Rutgers Master II-new design force-feedback glove. IEEE/ASME Transactions on Mechatronics 7, 2. [3] CHARDONNET J.-R., LÉON J.-C.: (2010) Design of an immersive peripheral for object grasping. In ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE). 

Design of an immersive peripheral for object grasping.

Simultaneous 4 gestures 6 dof real-time two-hand tracking without any markers.

The Rutgers Master II-new design force-feedback glove.

Name not available

Hal - Université Grenoble Alpes

SAM;  the Arts et Métiers ParisTech open access repository

Science Arts & Métiers (SAM)
is an open access repository that collects the work of Arts et Métiers ParisTech
researchers and makes it freely available over the web where possible.
This is an author-deposited version published in: https://sam.ensam.eu
Handle ID: .http://hdl.handle.net/10985/6682
To cite this version :
Jean-Rémy CHARDONNET, Jean-Claude LEON - Monitoring a Realistic Virtual Hand using a
Passive Haptic Device to Interact with Virtual Worlds - In: Joint Virtual Conference of ICAR-
EGVE-EuroVR, Spain, 2012-10-17 - Joint Virtual Reality Conference of ICAT - EGVE - EuroVR
2012 - 2012
Any correspondence concerning this service should be sent to the repository
Administrator : archiveouverte@ensam.eu
Monitoring a Realistic Virtual Hand using a Passive 
Haptic Device to Interact with Virtual Worlds 
J.-R. CHARDONNET
1
 and J.-C. LEON
2 
1Arts et Métiers ParisTech, CNRS, Le2i, Institut Image, 71100 Chalon-sur-Saône, France 
         2Grenoble University, INRIA, Jean Kuntzmann Laboratory, 38041 Grenoble Cedex 9, 
France 
jean-remy.chardonnet@ensam.eu 
jean-claude.leon@grenoble-inp.fr 
Abstract. We present a prototype of a hands-on immersive peripheral device 
for controlling a virtual hand with high dexterity. This prototype is as easy as a 
mouse to use and allows the control of a high number of degrees of freedom 
(dofs) with tactile feedback. The goals corresponding to design issues, 
physiological behaviors, include the choice of sensors’ technology and their 
position on the device, low forces exerted while using the device, relevant 
multi-sensorial feedback, performance of achieved tasks. 
Keywords: navigation device, passive haptics, interaction, manipulation. 
1. Introduction 
Our hands are an essential tool to interact with our environments, for example to 
manipulate objects. However, interactions may not be easy because for the same 
object there are generally different possible grasping configurations. This issue still 
remains a great challenge in virtual reality as current devices, e.g., [1,2], and software 
do not allow reproducing in a natural and realistic way a grasping motion in virtual 
environments and they are not devoted to general audience use. 
Our proposed solution is based on a passive haptic feedback and a hands-on 
interaction. We present an extension of the HandNavigator described in [3]. Unlike 
[1], we conducted validation tests of the existing prototypes on grasping tasks 
scenarii, to obtain the design of new requirements of the HandNavigator with a more 
ergonomic shape, sensors improving dexterity and interactions, while integrating 
tactile feedback for an enhanced immersion. 
2. Design of the new prototype 
Validation tests on previous versions pointed out several issues that are: the choice of 
sensors’ technology, minimization of muscular efforts and the inclusion of tactile 
feedback. We designed a new prototype, called V4, where several sensors are used to 
control each finger: a lever-switch for controlling the virtual finger in a free motion 
mode, with a low displacement amplitude of a real finger, a vibrator to give the user a 
tactile feedback when a finger touches a virtual object, and a pressure sensor for 
controlling the virtual finger in a constrained motion configuration (typically when 
the user holds a virtual object) and to give the user grasp feelings. All these sensors 
are integrated in a module depicted in Figure 1. There is one module for each finger, 
altogether four modules. A spring between the lever-switch and the pressure sensor 
separates free motion mode and constrained hand motion mode. We added a silicon-
based coating on the device as damping material to isolate each finger and prevent 
vibrations from propagating in the whole structure, so that the user can immediately 
know which finger touches a virtual object. 
We tested our device on a simple scenario where the goal is to position a virtual 
hand on a part coming from a food processor. A comparison between the real hand 
configuration and the virtual one achieved using our device is depicted on Figure 2. 
 
 
Figure 1. Our new prototype (on the left, a module for one finger). 
 
Figure 2. Configuration of a real/virtual hand for object grasping. 
References 
[1] SCHLATTMAN M., KLEIN R.: (2007) Simultaneous 4 gestures 6 dof real-time two-hand 
tracking without any markers. In ACM symposium on Virtual Reality Software and 
Technology, pp. 39–42. 
[2] BOUZIT M., BURDEA G., POPESCU G., BOIAN R.: (2002) The Rutgers Master II-new 
design force-feedback glove. IEEE/ASME Transactions on Mechatronics 7, 2. 
[3] CHARDONNET J.-R., LÉON J.-C.: (2010) Design of an immersive peripheral for object 
grasping. In ASME International Design Engineering Technical Conferences & Computers 
and Information in Engineering Conference (IDETC/CIE). 


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Monitoring a Realistic Virtual Hand using a Passive Haptic Device to Interact with Virtual Worlds

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