Evaluation of a Haptic Mixed Reality System for Interactions with a Virtual Control Panel

2005 ◽  
Vol 14 (6) ◽  
pp. 677-696 ◽  
Author(s):  
Christoph W. Borst ◽  
Richard A. Volz
Keyword(s):  
Task Performance ◽  
Visual Feedback ◽  
Direct Contact ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Control Panel ◽  
Combined Approach ◽  
Subjective Ratings ◽  
Virtual Control

We present a haptic feedback technique that combines feedback from a portable force-feedback glove with feedback from direct contact with rigid passive objects. This approach is a haptic analogue of visual mixed reality, since it can be used to haptically combine real and virtual elements in a single display. We discuss device limitations that motivated this combined approach and summarize technological challenges encountered. We present three experiments to evaluate the approach for interactions with buttons and sliders on a virtual control panel. In our first experiment, this approach resulted in better task performance and better subjective ratings than the use of only a force-feedback glove. In our second experiment, visual feedback was degraded and the combined approach resulted in better performance than the glove-only approach and in better ratings of slider interactions than both glove-only and passive-only approaches. A third experiment allowed subjective comparison of approaches and provided additional evidence that the combined approach provides the best experience.

scholarly journals Mixed-Reality and Traditional Flight Simulators for Urban Air Mobility Vehicles

2019 ◽  
Vol 1 (1) ◽  
Author(s):  
Keegan Bergman
Keyword(s):  
Haptic Feedback ◽  
Mixed Reality ◽  
Control Panel ◽  
Urban Air ◽  
Vehicle Concept ◽  
Proof Of Concept ◽  
Virtual Control ◽  
Flight Simulators ◽  
Dramatic Rise ◽  
Langley Research Center

The 2018 NASA Academy at Langley Research Center created proof-of-concept mixed reality (MR) and traditional simulators to enable quick vehicle concept prototyping and data collection for human factors studies. Urban Air Mobility (UAM) vehicle concepts were implemented as the focus for these simulators due to recent and dramatic rise in subject interest. The team used X-Plane 11 to model flight dynamics, and Unity for the virtual reality (VR) aspect of the MR simulator and to model the control panel in the traditional simulator. A physical version of the virtual control panel was also fabricated to provide haptic feedback to maintain the immersion for the MR simulator.

scholarly journals Influence of Force and Torque Feedback on Operator Performance in a VR-Based Suturing Task

2010 ◽  
Vol 7 (3) ◽  
pp. 217-230 ◽  
Author(s):  
L. Santos-Carreras ◽  
R. Beira ◽  
A. Sengül ◽  
R. Gassert ◽  
H. Bleuler
Keyword(s):  
Task Performance ◽  
Open Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Surgical Care ◽  
Medical Background ◽  
Technological Advances ◽  
Robotic Surgical System ◽  
Surgical System

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an approach, paving the way for even less invasive surgical trends. However, the fact that haptic feedback has been progressively lost through this transition is an issue that to date has not been solved. Whereas traditional open surgery provides full haptic feedback, the introduction of MIS has eliminated the possibility of direct palpation and tactile exploration. Nevertheless, these procedures still provide a certain amount of force feedback through the rigid laparoscopic tool. Many of the current telemanipulated robotic surgical systems in return do not provide full haptic feedback, which to a certain extent can be explained by the requirement of force sensors integrated into the tools of the slave robot and actuators in the surgeon’s master console. In view of the increased complexity and cost, the benefit of haptic feedback is open to dispute. Nevertheless, studies have shown the importance of haptic feedback, especially when visual feedback is unreliable or absent. In order to explore the importance of haptic feedback for the surgeon’s master console of a novel teleoperated robotic surgical system, we have identified a typical surgical task where performance could potentially be improved by haptic feedback, and investigate performance with and without this feedback. Two rounds of experiments are performed with 10 subjects, six of them with a medical background. Results show that feedback conditions, including force feedback, significantly improve task performance independently of the operator’s suturing experience. There is, however, no further significant improvement when torque feedback is added. Consequently, it is deduced that force feedback in translations improves subject’s dexterity, while torque feedback might not further benefit such a task.

An Experimental Study of Haptic Feedback in a Teleoperated Assembly Task

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Göran A. V. Christiansson
Keyword(s):  
Task Performance ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Human Subjects ◽  
Low Frequency ◽  
Contact Forces ◽  
Task Completion ◽  
Mental Load ◽  
Assembly Task ◽  
Haptic Cues

Haptic feedback is known to improve teleoperation task performance for a number of tasks, and one important question is which haptic cues are the most important for each specific task. This research quantifies human performance in an assembly task for two types of haptic cues: low-frequency (LF) force feedback and high-frequency (HF) force feedback. A human subjects study was performed with those two main factors: LF force feedback on/off and HF force (acceleration) feedback on/off. All experiments were performed using a three degree-of-freedom teleoperator where the slave device has a low intrinsic stiffness, while the master device on the other hand is stiff. The results show that the LF haptic feedback reduces impact forces, but does not influence low-frequency contact forces or task completion time. The HF information did not improve task performance, but did reduce the mental load of the teleoperator, but only in combination with the LF feedback.

scholarly journals A survey of telerobotic surface finishing

2018 ◽  
Vol 8 (1) ◽  
pp. 156-161
Author(s):  
Thomas Höglund ◽  
Jarmo Alander ◽  
Timo Mantere
Keyword(s):  
Genetic Algorithms ◽  
Visual Feedback ◽  
Visual Cues ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Surface Finishing ◽  
Grinding Process ◽  
Finishing Process ◽  
Haptic Sensing

Abstract This is a survey of research published on the subjects of telerobotics, haptic feedback, and mixed reality applied to surface finishing. The survey especially focuses on how visuo-haptic feedback can be used to improve a grinding process using a remote manipulator or robot. The benefits of teleoperation and reasons for using haptic feedback are presented. The use of genetic algorithms for optimizing haptic sensing is briefly discussed. Ways of augmenting the operator’s vision are described. Visual feedback can be used to find defects and analyze the quality of the surface resulting from the surface finishing process. Visual cues can also be used to aid a human operator in manipulating a robot precisely and avoiding collisions.

Learning Science Concepts with Haptic Feedback

2006 ◽  
pp. 132-151
Author(s):  
Linda D. Bussell
Keyword(s):  
Visual Feedback ◽  
Physical Science ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Learning Science ◽  
Control Group ◽  
Computer Based ◽  
Science Concepts ◽  
Experimental Group

This chapter examines the use of haptic feedback in a multimedia simulation as a means of conveying information about physical science concepts. The case study presented herein investigates the effects of force feedback on children’s conceptions of gravity, mass, and related concepts following experimentation with a force-feedback-enabled simulation. Two groups of 17 children conducted experiments with the simulation; the experimental group used both visual and force feedback, and the control group used visual feedback only. Evidence of positive gains by the experimental group who used the simulation with force feedback is presented. Guidelines for applying these technologies effectively for educational purposes are discussed. This chapter adds to the limited research on the application of haptic feedback for conceptual learning and provides a basis for further research into the effects of computer-based haptic feedback on children’s cognition.

scholarly journals Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic Cobot

2020 ◽  
Vol 4 (4) ◽  
pp. 78
Author(s):  
Andoni Rivera Pinto ◽  
Johan Kildal ◽  
Elena Lazkano
Keyword(s):  
Augmented Reality ◽  
Industrial Production ◽  
User Study ◽  
Haptic Feedback ◽  
Mixed Reality ◽  
Robot Arm ◽  
Pick And Place ◽  
Place Task ◽  
Guidance Technique ◽  
The Impact

In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm which we found to be beneficial.

Radiation-tolerant robotic complex URS-2

2021 ◽  
Vol 9 (2) ◽  
pp. 142-150
Author(s):  
Ivan Guschin ◽  
Anton Leschinskiy ◽  
Andrey Zhukov ◽  
Alexander Zarukin ◽  
Vyacheslav Kiryukhin ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Device ◽  
Control Panel ◽  
Original Design ◽  
Innovative Methods ◽  
Control Computer ◽  
Robotic Arm Control ◽  
6 Degrees Of Freedom ◽  
Radiation Tolerant

The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

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