Two-Hand Virtual Object Manipulation Based on Networked Architecture

Abstract

Abstract.A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forces can be reflected in any direction without any torque component. Scenarios for virtual manipulation are based on distributed architecture where each finger device has its own real-time controller. A computer receives the status of each finger and runs a simulation with the virtual object manipulation. The information of the Scenario is updated at a rate of 200 Hz. The information from the haptic controller is processed at 1 kHz; it provides a good realism for object manipulation.

Virtual Exertions

“…For much of this work, users were required to fit their hand to a grasping pose in order to acquire an object as no information of the exertion forces could be ascertained (Zachmann, 2000). Work in which exertion forces are monitored generally require fixed position input devices (Monroy, et al, 2008;Ferre et al, 2010). While these devices have the ability to provide haptic feedback, their lack of mobility reduces the user's level of interactivity and immersion in the VR simulation.…”

Virtual exertions: A user interface combining visual information, kinesthetics and biofeedback for virtual object manipulation

“…For much of this work, users were required to fit their hand to a grasping pose to acquire an object, as no information of the exertion forces could be ascertained [17]. Exertion force studies generally require fixed position input devices [7, 10]. These devices can provide haptic feedback, but their lack of mobility reduces the user’s level of interactivity and immersion.…”

Design and control of multi-finger haptic devices for dexterous manipulation

“…The described thimble can be used to detect changes in the grasping force by using the derivate operator of the information provided by the contact sensors. More details about this can be found at [137], [139], [140]. When the grasping force derivate is high, it means that the force applied is changing fast, i.e.…”

“…Unlike the effects of multisensory cues of button-push, haptic is of crucial importance in enhancement of grasping, suggesting unique neural processing networks for grasping. The setup for this experiment is based on a two finger haptic device called Master Finger-2 (MF-2) as shown in Figure 6.1 [139], [140], [101].…”