Grasp Identification and Multi-Finger Haptic Feedback for Virtual Assembly

Zhu, Zhenhua; Gao, Shiming; Wan, Huagen; Luo, Yang; Yang, Wenzhen

doi:10.1115/detc2004-57718

Cited by 9 publications

(7 citation statements)

References 9 publications

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“…Some years later, the VADE system was extended to support the bouncing of parts when they collide with other parts [7]. Wan and Zhu created a Multi-Modal Immersive Virtual Assembly System (MIVAS) which allows the user to feel the size and shape of a part by providing force feedback by means of a CyberGrasp haptic device [8] [9]. Collaborative Haptic Assembly Simulator (CHAS) is one reported work that investigates assembly/disassembly simulation of mechanical components in a collaborative virtual environment [10].…”

Section: Literature Reviewmentioning

confidence: 99%

Research on virtual assembly technology based on haptic senses

Chen¹,

Yuan²,

Yang³

2015

2015 10th International Conference on Computer Science &Amp; Education (ICCSE)

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This paper presents the research and implementation methods of virtual assembly based on a new haptic senses in the training system. According to the Leap Motion related technologies, we design several gestures and hand shape to achieve 3d interaction associated with virtual assembly. We propose the model of parts classification method includes four kinds of definition in order to simplify the assembly steps, on the basis of this give the method of parts coding to realize assembly sequence operation. The effectiveness of the proposed method is verified by a training example of the device model on virtual assembly training system.

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Section: Literature Reviewmentioning

confidence: 99%

Research on virtual assembly technology based on haptic senses

Chen¹,

Yuan²,

Yang³

2015

2015 10th International Conference on Computer Science &Amp; Education (ICCSE)

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“…V-COLLIDE [177] giving birth to the H-COLLIDE [142,143] haptic module, and RAPID [139] used in MIVAS [360,399]. Among other BVH methods are discrete oriented polytope (DOP) tree-based methods [215,392] which are generalizations of AABB trees with cubic bounding boxes to convex polytope bounding volumes.…”

Section: Collision Detectionmentioning

confidence: 99%

“…The geometric constraints can be either extracted and imported from the CAD model-i.e., manually specified by the CAD user (e.g., the designer)-or specified on-the-fly within the VE-i.e., manually specified by the VE operator (e.g., the inspector)-using a variety of constraint management systems developed for VR-CAD applications [247,271,272]. For example, VADE [191,194,196] and MIVAS [360,399] directly imported pre-defined constraint information from Pro/ENGINEER CAD models. The later versions of SHARP [322,323] used the Dimensional Constraint Manager (DCM) module of Siemens' D-Cubed for defining and solving geometric constraints within the VE itself.…”

Section: Geometric Constraintsmentioning

confidence: 99%

Haptic Assembly and Prototyping: An Expository Review

Behandish¹,

Ilieş²

2017

Preprint

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An important application of haptic technology to digital product development is in virtual prototyping (VP), part of which deals with interactive planning, simulation, and verification of assemblyrelated activities, collectively called virtual assembly (VA). In spite of numerous research and development efforts over the last two decades, the industrial adoption of haptic-assisted VP/VA has been slower than expected. Putting hardware limitations aside, the main roadblocks faced in software development can be traced to the lack of effective and efficient computational models of haptic feedback. Such models must 1) accommodate the inherent geometric complexities faced when assembling objects of arbitrary shape; and 2) conform to the computation time limitation imposed by the notorious frame rate requirements-namely, 1 kHz for haptic feedback compared to the more manageable 30−60 Hz for graphic rendering. The simultaneous fulfillment of these competing objectives is far from trivial.This survey presents some of the conceptual and computational challenges and opportunities as well as promising future directions in haptic-assisted VP/VA, with a focus on haptic assembly from a geometric modeling and spatial reasoning perspective. The main focus is on revisiting definitions and classifications of different methods used to handle the constrained multibody simulation in real-time, ranging from physics-based and geometrybased to hybrid and unified approaches using a variety of auxiliary computational devices to specify, impose, and solve assembly constraints. Particular attention is given to the newly developed 'analytic methods' inherited from motion planning and protein docking that have shown great promise as an alternative paradigm to the more popular combinatorial methods.In addition, we provide the most complete bibliography to date of haptic-assisted VP/VA systems complemented by a discussion and comparison of their key features.

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“…The VADE models part behaviors by importing constraints and model data from the CAD packages. Similar research by Wan et al (2004) has been conducted at Zhejiang University in creating a multi-modal immersive virtual assembly system and Grasp identification and multi-finger Haptic feedback for virtual assembling (Zhu et al, 2004). Until stages, however, most of DMU systems do not include complex robotic manipulators inside virtual environments with Haptic interface support and most of robotic simulators (Miller et al, 2004;Klingstam and Gullander, 1999) do not allow online analyses with real-time VR technologies.…”

Section: Introductionmentioning

confidence: 99%

Robotic virtual manipulations of a nuclear hot‐cell digital mock‐up system

Kim

Park²,

Kim³

et al. 2011

Assembly Automation

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Purpose -Hot-cells are shielded structures protecting individuals from radioactive materials. The purpose of this paper is to propose a design approach for a hot-cell simulator using digital mock-up (DMU) technology and combining Haptic guided complex robotic manipulation for assembly tasks in a virtual environment. Design/methodology/approach -The principal reason for developing a simulator was to explore the feasibility of hot-cell structure design and collision-free assembly process. For this, a simulation design philosophy has been proposed that includes DMU facility offering the ability of analyzing the operations and performing complex robotic manipulations in the virtual hot-cell environment. Furthermore, enhanced Haptic mapping for tele-manipulation is proposed for training and guidance purposes. Findings -From the analysis and task scenarios performed in virtual simulator, the optimal positions of the manipulators and need of (bridge transport dual arm servo-manipulators) type were identified. Operation tasks were performed remotely using virtual hot-cell technology by simulating the scenarios in the DMU reducing the overall operation cost and user training. The graphic simulator substantially reduced the cost of the process and maintenance procedure as well as the process equipment by providing a pre-analysis of whole scenario for real manipulation. Originality/value -This research tries to contribute to the virtual hot-cell design philosophy. Tele-operated complex robotic operations in DMU technology are performed in virtual hot-cell. The simulator provides improved Haptic guidance with force and torque feedback enhancing the realism of virtual environment.

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Grasp Identification and Multi-Finger Haptic Feedback for Virtual Assembly

Cited by 9 publications

References 9 publications

Research on virtual assembly technology based on haptic senses

Research on virtual assembly technology based on haptic senses

Haptic Assembly and Prototyping: An Expository Review

Robotic virtual manipulations of a nuclear hot‐cell digital mock‐up system

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