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Inria / Raweb 2004
Team: i3D

Team : i3d

Section: New Results


Self Constrained Haptic Device

Participants : Alexis Paljic, Sabine Coquillart.

Figure 6. The breaking device
haptic_in_swamp

This work is the prolongation of previous years research on simulating low cost force feedback. Previous work concerned pseudo-haptic force feedback [16]. It was shown that it is possible to simulate springs stiffness making use of an illusion generated by coupling a visual feedback and a force sensor. A similar result was also demonstrated for torque feedback in[2]. The Self-Constrained Haptic Device proposed this year is also based on an interaction between visual and haptic information. It is called "self constrained" because the user himself is the source of energy for the force feedback.

The device is made of a tracking device and a force sensor embbeded into a breaking system (see Figure6).

The user held the breaking system that can slide along strings. When the user moves an object in free space he does not have to press the device and his movements are free. Forces (friction, viscosity) are simulated, by lowering the object displacement gain, so that the user sees it slow down. In order to be able to control the object with a 1:1 displacement gain, the user has to press the device. This action constrains his movements along the wires.

Figure 7. The self-constrained haptic device installed on a two-screen workbench
haptic_front

Several experiments have been conducted to evaluate the new device. Results show that it provides the user with actual forces that are consistent with simulated physical properties, and that it enhances user performance compared to the purely visual situation.

The system has also been installed on our two-screen workbench on which informal tests show that it provides the users with haptic sensations (see Figure7).

This work has been published in [3].


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