Design and validation of a complete haptic system for manipulative tasks

The present work deals with the design, implementation and assessment of a new haptic system specifically conceived for manipulative tasks in virtual environments. Such a system was designed by taking into account specific issues related to fine manipulation, such as multipoint haptics, coherence, t...

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Bibliographic Details
Published in:Advanced robotics 2006-01, Vol.20 (3), p.367-389
Main Authors: Bergamasco, M., Avizzano, C. A., Frisoli, A., Ruffaldi, E., Marcheschi, S.
Format: Article
Language:English
Subjects:
FRICTION
HAPTIC INTERFACE
HUMAN PERCEPTION
MULTIPOINT INTERACTION
VIRTUAL GRASPING
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Summary:The present work deals with the design, implementation and assessment of a new haptic system specifically conceived for manipulative tasks in virtual environments. Such a system was designed by taking into account specific issues related to fine manipulation, such as multipoint haptics, coherence, transparency and physical representation. The haptic system described herein is integrated with a virtual environment engine for the simulation of multifinger manipulation. A preliminary evaluation of the system was conducted by comparing human performance in the manipulation of virtual objects with respect to real objects, according to the data available in the literature. The experiments confirm how the most relevant relationships among physiological and physical parameters involved in manipulation are also preserved during virtual manipulation. However, an in-depth analysis of the results shows that simulation parameters affect the level of force control during virtual manipulation and the quality of the perceived force feedback.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855306776014367