Path Planning for Encountered-type Haptic Devices that Render Multiple Objects in 3D Space

Abstract

A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized; (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.

ZoomWalls

“…For instance, Sparse Haptic Proxy uses a highly accurate prediction of users reaching targets by inferring their future actions based on their gaze and hand motions on a desktop VR setup [9]. To create a highly accurate and rapid encounter type haptic system, Yokokohji et al [57] used a convex polyhedron surface for collision detection with the user's hand, and [58] uses an understanding of kinematics features (e.g., velocity profle) of reaching and grasping behaviours. Their later work [25] relies on constructing reachability maps for a robot that represents surfaces with a much smaller prop.…”

Encountered‐type haptic display for large VR environment using per‐plane reachability maps

“…Finally, the used robotic manipulator in the prior work is not designed for human/robot coexistence (or cobot) and thus can be unsafe for encountered haptic interfaces. Yokokohji et al and Shigeta et al covered relatively small haptic workspace for small virtual objects that can be handheld and do not provide any mechanism to determine whether haptic feedback can be generated or not for a given user configuration. Compared with our system, VRRobot provides only passive haptic feedback.…”

Haptic Rendering of Juggling with Encountered Type Interfaces

“…In this way, each end-effector is moved into the position of the virtual object in real space ready for contact with the user's hands or fingers. The presence of multiple end-effectors can introduce collisions among them or with the user's body, an issue that Yokokohji, Yoshikawa, and Kinoshita (2001) addressed by means of motion planning. Table 1 shows, in a synthetic way, the major differences between encountered and conventional haptic interfaces.…”