Campus Units

Mechanical Engineering, Virtual Reality Applications Center

Document Type

Article

Publication Version

Published Version

Publication Date

10-2015

Journal or Book Title

Journal of Computing and Information Science in Engineering

Volume

15

Issue

4

First Page

1

Last Page

7

DOI

10.1115/1.4031826

Abstract

Haptic force-feedback can provide useful cues to users of virtual environments. Body-based haptic devices are portable but the more commonly used ground-based devices have workspaces that are limited by their physical grounding to a single base position and their operation as purely position-control devices. The “bubble technique” has recently been presented as one method of expanding a user's haptic workspace. The bubble technique is a hybrid position-rate control system in which a volume, or “bubble,” is defined entirely within the physical workspace of the haptic device. When the device's end effector is within this bubble, interaction is through position control. When the end effector moves outside this volume, an elastic restoring force is rendered, and a rate is applied that moves the virtual accessible workspace. Publications have described the use of the bubble technique for point-based touching tasks. However, when this technique is applied to simulations where the user is grasping virtual objects with part-to-part collision detection, unforeseen interaction problems surface. Methods of addressing these challenges are introduced, along with discussion of their implementation and an informal investigation.

Comments

This is an article from Journal of Computing and Information Science in Engineering 15 (2015): 1, doi: 10.1115/1.4031826. Posted with permission.

Copyright Owner

ASME

Language

en

File Format

application/pdf

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