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 pathplanning 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.

CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR

“…[18]) to displace the robot to the target location without colliding obstacles. Only few of the above systems [38,72,73] rely on these components to support non-deterministic scenarios. However, they require multiple robots [58,65] or specific devices (e.g.…”

The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface

“…As the FO is meant to be used as end-effector of a robotic arm, which functions as an encountered-type haptic interface (cf., [10]), it must be lightweight and easily mountable. In order to be able to render stiff objects, high stiffness of the mechanical structure is demanded (≈ 1 kN/m).…”

“…In this section, the dynamic performance of the FO is analyzed by switching between desired joint angles for a flat configuration and for a configuration rendering a cylinder with R = 0.1 m. By measuring the actual joint angles over time, the node errors (position and orientation) of all nodes can be calculated using (10). Position errors are defined as the distance of p S from the virtual surface, and the orientation errors are defined as the angle between r and the normal vector n(p S ) of the virtual surface at position p S (cf., Figs.…”

Designing an Encountered-type Haptic Display for Multiple Fingertip Contacts Based on the Observation of Human Grasping Behaviors

“…Contact Module (9 DOF or more) The authors have been developing encountered-type haptic devices, such as a WYSIWYF display (Yokokohji, Hollis, and Kanade 1999) and a virtual control panel (Yokokohji, Kinoshita, and Yoshikawa 2001). Hirose (1993, 1998) developed a partial surface display system, where a small surface patch or a spherical surface around the fingertip is presented at the location of a virtual object so that the user's fingertip can touch this surface at an appropriate location.…”

“…We also proposed a path-planning algorithm for encountered-type haptic devices that render multiple virtual objects arbitrarily located in three-dimensional (3D) space (Yokokohji, Kinoshita, and Yoshikawa 2001). As an implementation example, we developed a virtual control panel for automobiles to check the accessibility of switches on the panel in a early design stage.…”