scholarly journals A visual/haptic interface to virtual environment (WYSIWYF display) and its application

2002 ◽  
Author(s):  
Y. Yokokohji
Keyword(s):  
Virtual Environment ◽  
Haptic Interface

Design and Evaluation of Statically Balanced Compliant Mechanisms for Haptic Interfaces

2010 ◽  
Author(s):  
Levi C. Leishman ◽  
Daniel J. Ricks ◽  
Mark B. Colton
Keyword(s):  
Mathematical Model ◽  
Rigid Body ◽  
Virtual Environment ◽  
Compliant Mechanisms ◽  
Haptic Interface ◽  
Design Element ◽  
Haptic Interfaces ◽  
Body Model ◽  
Dynamic Forces ◽  
Rigid Body Model

Compliant mechanisms have the potential to increase the performance of haptic interfaces by reducing the friction and inertia felt by the user. The net result is that the user feels the dynamic forces of the virtual environment, without feeling the dynamics of the haptic interface. This “transparency” typically comes at a cost — compliant mechanisms exhibit a return-to-zero behavior that must be compensated in software. This paper presents a step toward improving the situation by using statically balanced compliant mechanisms (SBCMs), which are compliant devices that do not exhibit the return-to-zero behavior typical with most compliant mechanisms. The design and construction of a prototype haptic device based on SBCMs is presented, along with its mathematical model derived using the pseudo-rigid body model (PRBM) approach. Experimental results indicate that SBCMs effectively eliminate the return-to-zero behavior and are a feasible design element in haptic interfaces.

Upper Limb Assessment of People With Multiple Sclerosis With the Use of a Haptic Nine-Hole Peg-Board Test

2008 ◽  
Author(s):  
Evagoras G. Xydas ◽  
Loucas S. Louca
Keyword(s):  
Multiple Sclerosis ◽  
Young Adults ◽  
Virtual Environment ◽  
Motion Analysis ◽  
Upper Limb ◽  
Three Dimensional ◽  
Haptic Interface ◽  
Robotic Arm ◽  
Minimum Jerk ◽  
Board Test

In this work, a nine-hole peg-board test (NHPT) arrangement is implemented in a Virtual Environment with the use of a Haptic Interface that has the form of a small robotic arm. The Haptic NHPT is used as a mean for investigating the validity of a quantitative metric, which is based on smoothness maximization, as a possible assessment parameter for three dimensional reaching tasks. More specifically this study refers to the assessment of people with multiple sclerosis. The basic metric is developed by combining a neurophysical concept, which suggests that the three dimensional trajectories are piecewise planar, with the minimum jerk model (MJM) which in turn maximizes the smoothness along a predefined path. A total number of sixteen persons participated in the study. From these, nine were healthy young adults and seven were people with MS of various ages and at different stages of disease progress. All participants performed the exercise three times, of which only the second and third were used in the analyses. The results showed that the employed procedure was successful for developing a motion analysis metric for the smoothness in three dimensional trajectories. Also, a clear and traceable difference in performance appeared between the two groups, by using the developed assessment metric.

A Virtual Environment for the Simulation and Programming of Excavation Trajectories

2001 ◽  
Vol 10 (5) ◽  
pp. 465-476 ◽  
Author(s):  
Simon P. DiMaio ◽  
Septimiu E. Salcudean ◽  
Claude Reboulet
Keyword(s):  
Virtual Environment ◽  
Force Feedback ◽  
Control Strategies ◽  
Haptic Interface ◽  
Visual Environment ◽  
Heavy Duty ◽  
Interaction Forces ◽  
Impedance Model ◽  
Hydraulic Machines ◽  
Human Operators

An excavator simulator has been developed to facilitate the training of human operators and to evaluate control strategies for heavy-duty hydraulic machines. The operator controls a virtual excavator by means of a joystick while experiencing visual and force feedback generated by environment and machine models. The simulator comprises an impedance model of the excavator arm, a model for the bucket-ground interaction forces, a graphically rendered visual environment, and a haptic interface. This paper describes the simulator components and their integration.

Six Degree-of-Freedom Haptic System as a Desktop Virtual Prototyping Interface

1999 ◽  
Author(s):  
Abbe Cohen ◽  
Elaine Chen
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Degrees Of Freedom ◽  
Virtual Prototyping ◽  
Degree Of Freedom ◽  
Haptic Interface ◽  
Complex Object ◽  
Six Degrees Of Freedom ◽  
Torque Response ◽  
Six Degree Of Freedom

Abstract This paper describes a new six degree of freedom haptic interface with a large translational and rotational range of motion. The 6DOF haptic interface is demonstrated with an example industrial-scale virtual prototyping simulation which shows a moderately complex object Interacting with an arbitrarily complex virtual environment, using a full-service collision detection and response package to calculate the force and torque response in all six degrees of freedom.

Unconstrained Walking Plane to Virtual Environment for Non-Visual Spatial Learning

2013 ◽  
pp. 1580-1599
Author(s):  
Kanubhai K. Patel ◽  
Sanjay Kumar Vij
Keyword(s):  
Virtual Environment ◽  
Spatial Learning ◽  
Haptic Interface ◽  
Visual Disability ◽  
Visual Spatial ◽  
Visually Impaired People ◽  
New Type ◽  
Locomotion Interface ◽  
Mobility Skills ◽  
And Control

We have integrated the treadmill-style locomotion interface, called the unconstrained walking plane (UWP), with virtual environment (VE) to enhance spatial learning. This setting allows for a new type of experience, whereby participants with visual disability can explore VE for unattended non-visual spatial learning (NSL) and to develop cognitive maps of it. Although audio and haptic interface has been studied for NSL, nothing is known about the use of locomotion interface for supporting NSL. The structure and control mechanism of the device are presented. Discussion of advantages and limitations of the interface are given. Different types of locomotion interface to virtual environment with their constraints and benefits are discussed briefly. The purpose of the current study is to evaluate the efficacy of the UWP for VE exploration which leads to enhancement of unattended spatial learning and thereby enhancing the mobility skills of visually impaired people (VIP). We report an experiment that investigates the efficacy of UWP for VE exploration during turning and straight walking mode.

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