Perception of depth information by means of a wire-actuated haptic interface

Arcara, P.; Stefano, Luigi Di; Mattoccia, Stefano; Melchiorri, Claudio; Vassura, Gabriele

doi:10.1109/robot.2000.845258

Cited by 18 publications

(9 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Obtaining real-time 3D coordinates of a moving object has many applications such as gaming [1], robotics, human-machine interaction applications [2][3][4], industrial applications, construction, etc. Various technologies have been investigated for and used in these applications, including sensing via wire-interfaces [2], ultrasound and laser interferometry.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Real‐time 3D Tracking

Milanović¹,

Kasturi²

2013

Optik & Photonik

View full text Add to dashboard Cite

The ability to track objects in real time in a 3D environment has many real world applications, such as sensors that allow people to interact with electronic devices in very natural and intuitive ways. Controllers that can follow our hands or fingers and interpret our intentions could make human-machine interaction a more enjoyable, ergonomic and a more precise experience. Another application area is industrial automation, that heavily depends on the ability of robots to precisely locate and position objects.To address some of these needs, whilst with a highly flexible and low-cost solution, we have developed a tracking and position measurement technology, dubbed "MEMSEye", based on a beam steering MEMS mirror. It is capable of searching and tracking the position of a retro reflective target and providing position measurements at very fast update rates and with high resolution in a large volume. Multiple MEMSEyes can obtain 3D coordinates of the target utilizing triangulation methodologies. When multiple targets are used simultaneously, the system can obtain the orientation of an object as well as its location. A recent redesign and improvements of the system for an outdoor application resulted in a laser tracking system capable of direct sunlight operation at distances of up to approximately 150 m. IntroductionObtaining real-time 3D coordinates of a moving object has many applications such as gaming [1], robotics, human-machine interaction applications [2-4], industrial applications, construction, etc. Various technologies have been investigated for and used in these applications, including sensing via wire-interfaces [2], ultrasound and laser interferometry. However, a simple and low-cost solution that can provide enough precision and flexibility has not yet been available. The MEMSEye project at Mirrorcle Technologies has aimed for several years to utilize scanning MEMS mirrors as the technology platform for building high resolution and high speed 3D position measurement systems as depicted in Fig. 1. This technology can be used to build systems that allow users to interact with virtual and augmented reality environments in a natural and intuitive way.The technology utilizes simple and low cost subcomponents such as consumer-market laser diodes, silicon photodiodes, scanning MEMS mirrors and it does not require any special optics. Search and acquisition of targets in a field of view of ~20° was demonstrated at up to 150 m distance using simple raster search patterns. Subsequently, targets are tracked and illuminated with the laser beam using various direction correction algorithms.Demonstrations included hand-held target movement at different distances and speeds, tracking of targets on bicycles, cars and a specially made test platform for high-velocity testing.The tracker is geared towards highspeed, long-distance tracking. However, in the past we had demonstrated an indoor tracking system and patented a triangulation methodology for XYZ position measurement based on the use of two such trackers (two "eyes")...

show abstract

Section: Introductionmentioning

confidence: 99%

“…Various technologies have been investigated for and used in these applications, including sensing via wire-interfaces [2], ultrasound and laser interferometry. However, a simple and low-cost solution that can provide enough precision and flexibility has not yet been available.…”

Section: Introductionmentioning

confidence: 99%

Real‐time 3D Tracking

Milanović¹,

Kasturi²

2013

Optik & Photonik

View full text Add to dashboard Cite

show abstract

“…One of the goals is to enable real time interaction with computers and robotics in ways that are more intuitive, precise and natural. Obtaining real-time 3D coordinates of a moving object has many applications such as gaming [1], robotics and humancomputer interaction applications [2]- [4], industrial applications etc. Various technologies have been investigated for and used in these applications, including sensing via wire-interfaces [2], ultrasound, and laser interferometry, and others.…”

Section: Introductionmentioning

confidence: 99%

“…Obtaining real-time 3D coordinates of a moving object has many applications such as gaming [1], robotics and humancomputer interaction applications [2]- [4], industrial applications etc. Various technologies have been investigated for and used in these applications, including sensing via wire-interfaces [2], ultrasound, and laser interferometry, and others. However a simple and lowcost remote-measurement solution that can provide enough precision and flexibility is not yet available.…”

Section: Introductionmentioning

confidence: 99%

“MEMSEye” for optical 3D tracking and imaging applications

Milanović¹,

Kasturi²,

Siu³

et al. 2011

2011 16th International Solid-State Sensors, Actuators and Microsystems Conference

View full text Add to dashboard Cite

We demonstrate a compact, low-power device which combines a laser source, a MEMS mirror, and photosensors to enable fast-motion tracking of an object in a 3D volume while obtaining its precise XYZ coordinates, as well as high resolution laser-based imaging. Any object can be tracked which is marked by retro-reflective tape, or a corner-cube retroreflector (CCR). Two separate subsystems which we termed "MEMSEyes" track the position of the object within a ~40° field-ofview cone, allowing triangulation of the object's distance. A demonstration system running in a 40 kHz control loop is capable of human hand motion tracking and provides position information at up to 5m distance with 13-bit precision and repeatability. In another demonstration, a longer object is marked by two CCRs at its ends and the system measures its orientation in space with ~0.1° precision by locating both ends (CCRs) in a time-multiplexed manner.When used in rastering mode, a single MEMSEye device can efficiently scan objects and 2D barcodes.

show abstract

“…Basically, the user should be able to interact with the surroundings by ''touching'' a scaled ''bas-relief'' model of the scene acquired by a pair of cameras. So far the VIDET project has led to the development of two prototypes of the haptic-interface [5,6], based, respectively, on one (shown in Figure 2) and three wires, and a real-time stereo-vision system, which is described in this paper.…”

Section: Introductionmentioning

confidence: 99%