Using Integrated Vision Systems: Three Gears and Leap Motion, to Control a 3-finger Dexterous Gripper

Zubrycki, Igor; Granosik, Grzegorz

doi:10.1007/978-3-319-05353-0_52

Cited by 18 publications

(10 citation statements)

References 10 publications

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“…Advances in markerless body tracking reported in the academic literature (e.g. Poppe, 2007;Zubrycki and Granosik, 2014) would address the reported issues with markerbased tracking. The possibility for networked VR to address the stakeholders' issues with travel time and access has also been addressed in the literature (e.g.…”

Section: Discussionmentioning

confidence: 99%

“…Leap Motion (LM) is a recent technology permitting hand recognition without the need to wear special gloves or trackers. Using LM for grip simulation, Zubrycki and Granosik (2014) found that it provides information about position and orientation of the fingertip and has special functions to track position and orientation of objects visible in the scene. Moreover LM gives additional information (e.g.…”

Section: Studying Driver Distractionmentioning

confidence: 99%

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Future directions for the development of virtual reality within an automotive manufacturer

2016

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2Jaguar Land Rover, Virtual Innovation Centre (VIC) (bwaterf1@jaguarlandrover.com) Abstract. Virtual Reality (VR) can reduce time and costs, and lead to an increase in quality, in the development of a product. Given the pressure on car companies to reduce time-to-market and to continually improve quality the automotive industry has championed the use of VR across a number of applications, including design, manufacturing, and training. This paper describes interviews with 11 stakeholders from an automotive manufacturer about their current physical and virtual properties and processes. The results guided a review of research findings and scientific advances from the academic literature, which formed the basis of recommendations for future developments of VR technologies and applications. These include: develop a greater range of virtual contexts; use multi-sensory simulation; address perceived differences between virtual and real cars; improve motion capture capabilities; implement networked 3D technology; and use VR for market research.

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Section: Discussionmentioning

confidence: 99%

Section: Studying Driver Distractionmentioning

confidence: 99%

Future directions for the development of virtual reality within an automotive manufacturer

2016

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“…Some of the applications include: manipulation of 3D objects [13], point clouds annotation [14], [15], control of a gripper robot [16], segmentation of volumetric medical data [17], facilitating collaboration on multi-touch tables for disabled users [18], therapy sessions with serious games [19], [20], modeling of the prosthesis socket [21] and even monitoring symptoms of amnestic mild cognitive impairment (MCI) for elderly people [22].…”

Section: Related Workmentioning

confidence: 99%

A real-time reconstructed 3D environment augmented with virtual objects rendered with correct occlusion

Khattak

Cowan

Chepurna

et al. 2014

2014 IEEE Games Media Entertainment

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Fig. 1: Screenshots of the left view showing correct occlusion of the user's hands and the virtual object (a 3D textured crate). The AR marker cannot be seen because it is directly behind the virtual object.Abstract-In this work we present a novel framework for the real-time interaction with 3D models in augmented virtual reality. Our framework incorporates view-dependent stereoscopic rendering of the reconstructed environment together with user's hands and a virtual object, and high-precision gesture recognition to manipulate it. Proposed setup consists of a Creative RGB-D camera, Oculus Rift VR head mounted display (HMD), Leap Motion hands and fingers tracker and an AR marker. The system is capable of augmenting the user's hands in relation to their point of view (POV) using the depth sensor mounted on the HMD, and allows manipulation of the environment through the Leap Motion sensor. The AR marker is used to determine the location of the Leap Motion sensor to help with consolidation of transformations between the Oculus and the Leap Motion sensor. Combined with accurate information from the Oculus HMD, the system is able to track the user's head and fingers, with 6-DOF, to provide a spatially accurate augmentation of the user's virtual hands. Such an approach allows us to achieve high level of user immersion since the augmented objects occlude the user's hands properly; something which is not possible with conventional AR. We hypothesize that users of our system will be able to perform better object manipulation tasks in this particular augmented VR setup as compared to virtual reality (VR) where user's hands are not visible, or if visible, always occlude virtual objects.

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“…We discuss specification of such task and describe integration of the device into previously developed ROS based system [34][35][36].…”

Section: Introductionmentioning

confidence: 99%

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki

Granosik

2016

J Intell Robot Syst

Self Cite

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This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the

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Using Integrated Vision Systems: Three Gears and Leap Motion, to Control a 3-finger Dexterous Gripper

Cited by 18 publications

References 10 publications

Future directions for the development of virtual reality within an automotive manufacturer

Future directions for the development of virtual reality within an automotive manufacturer

A real-time reconstructed 3D environment augmented with virtual objects rendered with correct occlusion

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

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