Improving User Comfort in Haptic Virtual Environments through Gravity Compensation

Ott, Renaud; Gutiérrez, Mario; Thalmann, Daniel; Vexo, Frédéric

doi:10.1109/whc.2005.78

Cited by 19 publications

(11 citation statements)

References 16 publications

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“…Moreover, as we are working with the HW, with the help of the paradigm developed by Renaud Ott in [10], it is possible to compensate the gravity effect as if the patient arm was in weightlessness. The patients can be treated from the beginning with micro-gravity to their complete recovery with forces around 10kgs.…”

Section: System Architecturementioning

confidence: 99%

Two-Arm Haptic Force-Feedbacked Aid for the Shoulder and Elbow Telerehabilitation

Salamin

Thalmann

Vexo

et al. 2008

Technologies for E-Learning and Digital Entertainment

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Abstract. In this paper we present a telerehabilitation system aiming to help physiotherapists on the shoulder and elbow treatment. Our system is based on a two-arm haptic force feedback to avoid excessive efforts and discomfort with the spinal column and is remotely controlled by smart phone. The validation of our system, with the help of muscular effort measurements (EMG) and supervised by a physiotherapist, provides very promising results.

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Section: System Architecturementioning

confidence: 99%

Two-Arm Haptic Force-Feedbacked Aid for the Shoulder and Elbow Telerehabilitation

Salamin

Thalmann

Vexo

et al. 2008

Technologies for E-Learning and Digital Entertainment

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“…However this position is not easily reproducible perfectly. Thus, we introduce in [8] a procedure to dynamically recalibrate it.…”

Section: ) Haptic Threadmentioning

confidence: 99%

MHaptic : a Haptic Manipulation Library for Generic Virtual Environments

Freyberger

Färber

Kuschel

et al. 2007

2007 International Conference on Cyberworlds (CW'07)

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Abstract-This paper presents a new library called MHaptic for bimanual haptic interaction within generic virtual environments. It has been specifically designed to work with a Haptic Workstation TM . MHaptic provides tools for accelerated development of virtual environment applications with haptic feedback like device calibration, user comfort improvements and access to low level parameters. Due to its integration with the Ageia PhysX library, it facilitates the dynamic animation of virtual objects. A realistic hand model based on mass-spring systems allows natural and intuitive manipulation. MHaptic is complemented by an authoring tool that associates information required for haptic feedback to existing virtual environments. The combination of the library and the authoring tool creates a framework for easy development of complex VR haptic applications.

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“…To achieve this goal, we have presented in [25] an algorithm to gather the data of the two CyberTrack™ with the same coordinate system. By default, the Haptic Workstation™ is not calibrated.…”

Section: Haptic Softwarementioning

confidence: 99%

“…In [25], we have proposed a solution that consists in compensating for the weight of the exoskeleton (and also the weight of user arm if needed) using the CyberForce™ device itself. This method consists in using a precalculated force field.…”

Section: Haptic Softwarementioning

confidence: 99%

Organic Shape Modeling through Haptic Devices

Ott¹,

Thalmann²,

Vexo³

2006

Computer-Aided Design and Applications

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This paper presents a sketching system for 3D organic shapes modeling and animation using virtual reality devices. On the hardware side, it is based on the Haptic Workstation™ which conveys force feedback on the user arms (upper body limbs), and a Head Mounted Display to present the 3D generated images. On the software side, we use implicit surfaces modelling techniques such as metaballs. In fact, Designers feel well comfortable with this kind of primitives due to their ability in the organic shapes creation such as virtual humans. The proposed system provides an efficient alternative to produce advanced 3D shapes sketching.

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Improving User Comfort in Haptic Virtual Environments through Gravity Compensation

Cited by 19 publications

References 16 publications

Two-Arm Haptic Force-Feedbacked Aid for the Shoulder and Elbow Telerehabilitation

Two-Arm Haptic Force-Feedbacked Aid for the Shoulder and Elbow Telerehabilitation

MHaptic : a Haptic Manipulation Library for Generic Virtual Environments

Organic Shape Modeling through Haptic Devices

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