Influence of control/display ratio on the perception of mass of manipulated objects in virtual environments

Dominjon,; Lecuyer,; Burkhardt,; Richard, Richard; Richir,

doi:10.1109/vr.2005.1492749

Cited by 108 publications

(78 citation statements)

References 20 publications

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“…Fatigue and less mobility may be experienced at zero-gravity due to numbness in hand muscle. This is because the human loses some haptic information or senses at zero-gravity that reduces human's haptic weight perception ability (22)- (24) . Hence, we decided 0.05kg as the best (optimum) value of m 2 for the dynamics of the PAR for manipulating objects in linear vertical motion.…”

Section: Experiments Results and Analysesmentioning

confidence: 99%

Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control

Rahman

Ikeura

Hayakawa

et al. 2011

JBSE

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This paper investigates human characteristics in terms of weight perception, load forces, motions etc. for manipulating objects with a power assist robot and proposes a novel control for the robot based on the human characteristics to improve maneuverability, safety etc. We hypothesized that weight perception due to inertia might be different from that due to gravity for manipulating objects with power-assist. A 1-DOF power assist robot was developed and simulated. Subjects manipulated objects with the robot for two types of motions: (i) linear vertical (lifting objects vertically), (ii) harmonic (objects repeatedly lifted up and lowered down).We analyzed weight perception, load forces and motions. We then introduced a novel control strategy, which was such that a virtual mass exponentially declined from a large value to a small one when the subjects manipulated the objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and improved maneuverability, safety etc. We compared the results for linear motion to that for harmonic motion. We also demonstrated the conditions to further optimize the performances. Finally, we proposed using the findings to develop human-friendly power assist devices to manipulate heavy objects in industries that would improve productivity, worker's health and wellness. We also argued that the weight perceptual and psychophysical criteria used to control the robot would satisfy the biomechanical criteria of robot operator manipulating heavy objects, and thus we attempted to establish a trade-off between psychophysical and biomechanical criteria for manipulating objects with power-assist.

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Section: Experiments Results and Analysesmentioning

confidence: 99%

Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control

Rahman

Ikeura

Hayakawa

et al. 2011

JBSE

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“…This effect was illustrated with a task involving the insertion of an object into a duct: when the manipulated object reaches the duct, the movement is slowed down and users increase the force applied on the passive device which makes them perceive a friction force. Pseudo-haptic feedback can also simulate other 6 haptic properties such as mass (Dominjon, Lécuyer, Burkhardt, Richard, & Richir, 2005), torque (Paljic, Burkhardt, & Coquillart, 2004), and grasping forces (Achibet et al, 2014).…”

Section: Cross-modal Alternatives To Haptic Feedbackmentioning

confidence: 99%

“…Here, we illustrate how to simulate weight by attaching the rubber cable to the the waist and altering the vertical motion of a manipulated virtual object. This extension is inspired by an early work on pseudo-haptic feedback, which simulated different weights by only altering the vertical motion of a sphere controlled through a haptic interface (Dominjon, Lécuyer, Burkhardt, Richard, & Richir, 2005).…”

Section: Weight Simulation From the Waistmentioning

confidence: 99%

Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

Achibet

Girard

Marchal

et al. 2016

Presence: Teleoperators and Virtual Environments

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International audienceHaptic feedback is known to improve 3D interaction in virtual environments but current haptic interfaces remain complex and tailored to desktop interaction. In this paper, we describe an alternative approach called “Elastic-Arm” for incorporating haptic feedback in immersive virtualenvironments in a simple and cost-effective way. The Elastic-Arm is based on a body-mounted elastic armature that links the users hand to his body and generates a progressive egocentric force when extending the arm. A variety of designs can be proposed with multiple links attached tovarious locations on the body in order to simulate different haptic properties and sensations such as different levels of stiffness, weight lifting, bimanual interaction, etc. Our passive haptic approach can be combined with various 3D interaction techniques and we illustrate the possibilities offered by the Elastic-Arm through several use cases based on well-known techniques such as the Bubble technique, redirected touching, and pseudo-haptics. A user study was conducted which showed the effectiveness of our pseudo-haptic technique as well as the general appreciation of the Elastic-Arm. We believe that the Elastic-Arm could be used in various VR applications which call for mobile haptic feedback or human-scale haptic sensations

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“…Much smaller values of m 1 and m 2 may further reduce the perceived heaviness, but it needs to clarify whether or not this is suitable for human psychology. In zero-gravity or weightless condition when m 2 = 0, the object is supposed to be too light as it was found in [25] in actual environment and in [26] in virtual environment. But, we previously found that the zerogravity is not feasible because the human loses some haptic information at zero-gravity that reduces human's weight perception ability [23].…”

Section: Determining Optimum Maneuverabilitymentioning

confidence: 99%

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

Rahman

Ikeura

2012

Advances in Human-Computer Interaction

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Power assist systems are usually used for rehabilitation, healthcare, and so forth.This paper puts emphasis on the use of power assist systems for object transfer and thus brings a novelty in the power-assist applications. However, the interactions between the systems and the human users are usually not satisfactory because human features are not included in the control design. In this paper, we present the development of a 1-DOF power assist system for horizontal transfer of objects. We included human features such as weight perception in the system dynamics and control. We then simulated the system using MATLAB/Simulink for transferring objects with it and (i) determined the optimum maneuverability conditions for object transfer, (ii) determined psychophysical relationships between actual and perceived weights, and (iii) analyzed load forces and motion features. We then used the findings to design a novel adaptive control scheme to improve the interactions between the user and the system. We implemented the novel control (simulated the system again using the novel control), the subjects evaluated the system, and the results showed that the novel control reduced the excessive load forces and accelerations and thus improved the human-system interactions in terms of maneuverability, safety, and so forth. Finally, we proposed to use the findings to develop power assist systems for manipulating heavy objects in industries that may improve interactions between the systems and the users.

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Influence of control/display ratio on the perception of mass of manipulated objects in virtual environments

Cited by 108 publications

References 20 publications

Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control

Manipulating Objects with a Power Assist Robot in Linear Vertical and Harmonic Motion: Psychophysical-Biomechanical Approach to Analyzing Human Characteristics to Improve the Control

Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach

Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

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