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Constraint-based haptic rendering of point data for teleoperated robot grasping

Adam Leeper, Sonny Chan, Kaijen Hsiao, Matei Ciocarlie, Kenneth Salisbury
2012 2012 IEEE Haptics Symposium (HAPTICS)  
An operator then uses a haptic device to position a virtual model of the robot gripper (the haptic proxy), specifying a desired grasp pose to be executed by the robot.  ...  We further explore the use of haptic feedback for remotely supervised robots performing grasping tasks.  ...  ACKNOWLEDGEMENTS Many thanks to Leila Takayama for helping with data analysis, as well as to Günter Niemeyer and Reuben Brewer for helpful comments on the manuscript. A.  ... 
doi:10.1109/haptic.2012.6183818 dblp:conf/haptics/LeeperCHCS12 fatcat:fxmplckxr5gsfffbtdwsll46um

Novel Neurostimulation-Based Haptic Feedback Platform for Grasp Interactions With Virtual Objects

Aliyah K. Shell, Andres E. Pena, James J. Abbas, Ranu Jung
2022 Frontiers in Virtual Reality  
Neurostimulation-based sensory feedback has the potential to enhance the immersive experience within VR environments by supplying relevant and intuitive haptic feedback related to interactions with virtual  ...  virtual objects and delivering haptic feedback based on the resulting grasp forces.  ...  Nieves for characterizing the hand aperture tracker and conducting pilot studies with the xTouch. In addition, we thank Sathyakumar S. Kuntaegowdanahalli for his help in conducting the experiments.  ... 
doi:10.3389/frvir.2022.910379 fatcat:m6pbsncne5hnveel4jv6ubosga

Using Haptics to Improve Immersion in Virtual Environments [chapter]

Priscilla Ramsamy, Adrian Haffegee, Ronan Jamieson, Vassil Alexandrov
2006 Lecture Notes in Computer Science  
Haptic interfaces can enhance the VE interaction by enabling users to "touch" and "feel" virtual objects that are simulated in the environment.  ...  While feedback in Virtual Environments (VE) is predominantly provided to the user through the visual and auditory channels, additional modalities such as haptics can increase the sense of presence and  ...  Acknowledgements I would like to thank Dr William Harwin and those at ISRG for their help.  ... 
doi:10.1007/11758525_81 fatcat:l3hiels55zdf5lonlfcw72hbl4

Electromyography Based Decoding of Dexterous, In-Hand Manipulation of Objects: Comparing Task Execution in Real World and Virtual Reality

Yongje Kwon, Anany Dwivedi, Andrew J. McDaid, Minas Liarokapis
2021 IEEE Access  
of a hand within a virtual environment and ii) for real, everyday life objects manipulated by the human hand.  ...  The increased use of Virtual and Augmented Reality based systems necessitates the development of more intuitive and unobtrusive means of interfacing.  ...  From this, they suggest that the execution of reach-to-grasp tasks is feasible even without employing haptic feedback in a virtual environment.  ... 
doi:10.1109/access.2021.3062364 fatcat:iq5uonxdbfg7jh6cqzsg2rc74e

Evaluation of Sensor Configurations for Robotic Surgical Instruments

Jesús Gómez-de-Gabriel, William Harwin
2015 Sensors  
A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented.  ...  This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment.  ...  Elasticity of the phantoms Normal grasping data fitted curve Lump grasping data fitted curve Set of Virtual Sensor Configurations A total of five different sensor configurations for the virtual gripper  ... 
doi:10.3390/s151027341 pmid:26516863 pmcid:PMC4634404 fatcat:o3jfkv2s3rbcnlbwegcpaei3ve

Adding Haptic Feedback to Virtual Environments with a Cable-Driven Robot Improves Upper Limb Spatio-temporal Parameters During a Manual Handling Task

Celine Faure, Alexis Fortin-Cote, Nicolas Robitaille, Philippe Cardou, Clement Gosselin, Denis Laurendeau, Catherine Mercier, Laurent Bouyer, Bradford J. McFadyen
2020 IEEE transactions on neural systems and rehabilitation engineering  
Twelve healthy participants executed a manual handling task under three conditions: 1) in a virtual environment with haptic feedback; 2) in a virtual environment without haptic feedback; 3) in a real physical  ...  The aim of this study was to evaluate the impact on user movement patterns of adding haptic feedback in a virtual environment with this robot.  ...  Vincent, Simon Foucault, Thierry Laliberté, Steve Forest, Félix Fiset, and Frédéric Dumont for their technical and general assistance throughout the project, and to Jean Leblond for statistical consulting  ... 
doi:10.1109/tnsre.2020.3021200 pmid:32877337 fatcat:rpeh6f4qrreslhpqtmvkqjal7y

3D Interaction Techniques for Bimanual Haptics in Virtual Environments [chapter]

Anthony Talvas, Maud Marchal, Gabriel Cirio, Anatole Lécuyer
2013 Springer Series on Touch and Haptic Systems  
Several haptic devices permit this form of interaction, but they are subject to a certain number of limitations for interacting with virtual environments (VEs), notably workspace size issues and manipulation  ...  Interaction techniques exist to overcome these limitations and allow users to perform specific two-handed tasks, such as the bimanual exploration of large VEs and grasping of virtual objects.  ...  Introduction Bimanual haptics implies the use of both hands for haptic interaction with virtual or remote environments.  ... 
doi:10.1007/978-1-4471-5204-0_3 fatcat:rkfn5wrurjdizfljtjyppjvena

Model Mediated Teleoperation with a Hand-Arm Exoskeleton in Long Time Delays Using Reinforcement Learning [article]

Hadi Beik-Mohammadi, Matthias Kerzel, Benedikt Pleintinger, Thomas Hulin, Philipp Reisich, Annika Schmidt, Aaron Pereira, Stefan Wermter, Neal Y. Lii
2021 arXiv   pre-print
Augmented reality was also provided to fuse the avatar device and virtual environment models for the teleoperator.  ...  The teleoperator interacts with a simulated virtual environment, which provides instant feedback.  ...  As Fig. 1 shows, our system offers haptic feedback via the haptic Exodex Adam interface [32] , [33] , in which all forces are calculated in the virtual environment.  ... 
arXiv:2107.00359v1 fatcat:dvrjless7zeb7ezrjetdy66igm

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Firas Abi-Farraj, Claudio Pacchierotti, Oleg Arenz, Gerhard Neumann, Paolo Robuffo Giordano
2019 IEEE Transactions on Haptics  
This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment.  ...  These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects.  ...  [44] address the use of audio and haptics to reduce the visual load during interaction tasks within virtual environments.  ... 
doi:10.1109/toh.2019.2913643 pmid:31034421 fatcat:jczzipdtcjcgbjatrt7qogac3q

Too Hot to Handle: An Evaluation of the Effect of Thermal Visual Representation on User Grasping Interaction in Virtual Reality

Andreea Dalia Blaga, Maite Frutos-Pascual, Chris Creed, Ian Williams
2020 Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems  
Results show temperature cues influenced grasp location, with the mug handle being predominantly grasped with a smaller grasp aperture for the hot condition, while the body and top were preferred for baseline  ...  We present a study analysing the effect of thermal visual cues and contextual information on 50 participants' approach to grasp and move a virtual mug.  ...  [11] investigated sensory illusions in a virtual environment, and identified that when manipulating the visual analogue for a physical force, a virtual spring, users reported haptic sensations of "physical  ... 
doi:10.1145/3313831.3376554 dblp:conf/chi/BlagaPCW20 fatcat:igrb7xmocbeynfezzhnbd3dri4

Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

C.S. Tzafestas
2003 IEEE transactions on systems, man and cybernetics. Part A. Systems and humans  
This paper investigates problems related particularly to the haptic interaction between the human operator and a virtual environment.  ...  One of the key requirements for a Virtual Reality system is the multimodal, real-time interaction between the human operator and a computer simulated and animated environment.  ...  grasping stability margin, as will be described in Section II-G3. 2) Virtual Prehension: In order to implement the haptic feedback methods described above within a virtual manipulation environment, the  ... 
doi:10.1109/tsmca.2003.812600 fatcat:3gbznradsfevdn2gwijfnfaz6q

A survey on haptic technologies for mobile augmented reality [article]

Carlos Bermejo, Pan Hui
2017 arXiv   pre-print
This survey reviews current research issues in the area of human computer interaction for MAR and haptic devices.  ...  We classify haptic devices into two groups according to the triggered sense: cutaneous/tactile: touch, active surfaces, and mid-air, kinesthetic: manipulandum, grasp, and exoskeleton.  ...  Wolverine [88] is a mobile wearable haptic device designed for grasping rigid virtual objects.  ... 
arXiv:1709.00698v3 fatcat:du5enq4r4jc6fbxw7jsudtajdu

Haptic display for virtual reality: progress and challenges

WANG Dangxiao, GUO Yuan, LIU Shiyi, ZHANG Yuru, XU Weiliang, XIAO Jing
2019 Virtual Reality & Intelligent Hardware  
In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.  ...  Immersion, interaction, and imagination are three features of virtual reality (VR).  ...  When a user experiences virtual objects in high-fidelity 3D graphically rendered virtual environments, it is human's instinct to touch, grasp and manipulate the virtual objects.  ... 
doi:10.3724/sp.j.2096-5796.2019.0008 dblp:journals/vrih/WangGLZXX19 fatcat:wwg7v6iytfgt7n32zwfqp5n7oy

Virtual reality for assembly methods prototyping: a review

Abhishek Seth, Judy M. Vance, James H. Oliver
2010 Virtual Reality  
Virtual reality (VR) technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (CAAP) [1].  ...  Virtual reality technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (Ritchie et al. in Proc I MECH E Part B J Eng 213 (5)  ...  A CyberGrasp haptic device was used for tactile feedback during grasping.  ... 
doi:10.1007/s10055-009-0153-y fatcat:njjl52s4mfeadbmjayigma4rwu

Guaranteed stability of haptic systems with nonlinear virtual environments

B.E. Miller, J.E. Colgate, R.A. Freeman
2000 IEEE Transactions on Robotics and Automation  
Abstract| Design of haptic systems that guarantee stable interaction is a challenging task. Virtual environments are typically highly nonlinear -resulting in a non-passive discrete-time model.  ...  In particular, delayed and non-delayed implementation of the environment is considered, revealing a non-intuitive result with regard to the allowable local sti ness.  ...  Acknowledgments The authors would like to acknowledge Brent Gillespie for his thorough review of this paper and his many insightful comments.  ... 
doi:10.1109/70.897782 fatcat:g45sjbki7jgi3co44jiauwghde
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