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Research Papers

Interacting With Grasped Objects in Expanded Haptic Workspaces Using the Bubble Technique

[+] Author and Article Information
Ryan A. Pavlik

Human–Computer Interaction Graduate Program,
Virtual Reality Application Center,
Iowa State University,
Ames, IA 50011
e-mail: rpavlik@iastate.edu

Judy M. Vance

Department of Mechanical Engineering,
Virtual Reality Application Center,
Iowa State University,
Ames, IA 50011
e-mail: jmvance@iastate.edu

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received October 24, 2013; final manuscript received September 18, 2015; published online October 29, 2015. Editor: Bahram Ravani.

J. Comput. Inf. Sci. Eng 15(4), 041006 (Oct 29, 2015) (7 pages) Paper No: JCISE-13-1229; doi: 10.1115/1.4031826 History: Received October 24, 2013; Revised September 18, 2015

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.

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Figures

Grahic Jump Location
Fig. 1

Haption Virtuose 6D35-45 in a large workspace virtual environment

Grahic Jump Location
Fig. 2

Wire-frame workspace display in virtual assembly application SPARTA

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Fig. 3

Conceptual view of the virtual coupler

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Fig. 7

Control laws as investigated

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Fig. 6

Handle returns within bubble

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Fig. 5

Colliding objects while moving bubble

Grahic Jump Location
Fig. 4

Grasping object while moving bubble

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