Bimanual Haptic Interaction with Virtual Environments Anthony - - PowerPoint PPT Presentation
Bimanual Haptic Interaction with Virtual Environments Anthony Talvas INSA, IRISA and Inria Rennes Hybrid Team Advisors: Maud Marchal Anatole Lcuyer Virtual Reality and Haptics Virtual Reality (VR) : Immersion of a user in a Virtual
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Actions Feedback
(Geomagic)
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[Ullrich and Kuhlen, 2012] [Faeth et al, 2008]
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Human aspects Hardware Software Interaction
Haptic Interface Haptic Interface Interaction Techniques Haptic Rendering Virtual Environment User
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Rigid proxies Rigid hand models Deformable hand models
VEs with rigid proxies
Realism Computational efficiency
(+ interface collision)
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[Hulin et al., 2008] [Peer and Buss, 2008] [Formaglio et al., 2006] [Walairacht et al., 2001]
[Zilles and Salisbury, 1995, Ruspini et al., 1997, Ortega et al., 2007]
[Borst and Indugula, 2005, Kry and Pai, 2006, Ott et al., 2007, Jacobs et al., 2012]
[Garre et al., 2011, Jacobs and Froehlich, 2011]
mostly unused for bimanual grasping
contact, very high cost with two hands
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[Jacobs and Froehlich, 2011] [Ortega et al., 2007] [Ott et al., 2009]
[Moravanszky and Terdiman, 2004, Kim et al., 2003]
[Miguel and Otaduy, 2011]
[Allard et al., 2010]
well adapted
to solve (e.g. friction)
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[Moravanszky and Terdiman, 2004] [Allard et al., 2010]
[Zachmann and Rettig, 2001, Moehring and Froehlich, 2005]
[Holz et al., 2008, Moehring and Froehlich, 2010]
[Holz et al., 2008, Moehring and Froehlich, 2005, 2010]
[Barbagli et al., 2004, Ciocarlie et al., 2007]
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[Barbagli et al., 2004] [Moehring and Froehlich, 2010] [Holz et al., 2008]
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deformable hand models
rigid models
grasping
haptics
contact
simulation
while grasping
large VEs
hand models
grasping
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deformable hand models
rigid models
grasping
haptics
contact
simulation
large VEs
while grasping
hand models
grasping
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Data glove (or scripted animations) Tracked data Reduced coordinates model Articulated rigid body hand Visual model FEM-based soft phalanges Collision model Unilateral spring Bilateral spring Unilateral mapping Bilateral mapping
𝑵𝒘 = 𝒈 𝒓, 𝒘 + 𝒈𝒇𝒚
𝑵 − ℎ 𝜖𝒈 𝜖𝒘 − ℎ2 𝜖𝒈 𝜖𝒓 𝑒𝒘 = ℎ𝒈 𝒓𝟏, 𝒘𝟏 + ℎ2 𝜖𝒈 𝜖𝒓 𝒘𝟏 + ℎ𝒈𝒇𝒚
𝑩𝟐𝑒𝒘𝟐 = 𝒄𝟐 + ℎℍ1
𝑈𝝁
𝑩𝟑𝑒𝒘𝟑 = 𝒄𝟑 + ℎℍ2
𝑈𝝁
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Mass matrix Velocities Internal forces External forces Matrix of constraint directions Vector of constraint forces
[Allard et al., 2010]
𝑔𝑠𝑓𝑓 Volumes 𝑊 𝑗 = 𝑇𝑗𝜀𝑜,𝑗 𝑔𝑠𝑓𝑓
𝑼 Gradients 𝑲𝑾𝒋 = 𝑇𝑗𝒐𝒋 𝑼
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ℍ𝑜,𝑗 = 𝑇𝑗𝒐𝒋
𝑼
𝜇𝑜 ≥ 0 ⊥ 𝑲𝑾𝒋 𝒓𝟏 + 𝚬𝒓 ≤ 0
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Constraint force repulsive or null Penetration volume must not increase
ℍ𝑜,𝑗 = 𝑥𝑗𝑇𝑗𝒐𝒋
𝑼
𝑥𝑗 = 𝜀𝑜,𝑘
𝑔𝑠𝑓𝑓
𝜀𝑜,𝑘
𝑔𝑠𝑓𝑓 𝑜𝑘
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Contact solving with non-uniform pressure
[Leine and Glocker, 2003]
Φ = 𝑇𝑗 𝑇 𝜈𝜇𝑜 𝑤𝑡
𝑗
friction forces/torques within values
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with 𝑤𝑡 sliding velocity at contact points 𝑗
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20 Scenario Constraint solving (ms) Total time (ms) Point Aggr. Point Aggr. Rigid ball 24,73 9,44 59,98 45,81 223,69 54,75 262,13 93,63 Dumbbell 130,45 68,45 201,86 147,03 Pen spinning 4,2 2,32 13,88 12,19 Edge grasping 9,64 2,23 17,64 10,22 23,01 3,45 31,17 11,8 Scenario Phalanges Contacts Constraints Point Aggr. Rigid ball 15 27 81 23 176 528 51 Dumbbell 30 86 251 96 Pen spinning 3 13 37 12 Edge grasping 2 12 37 8 21 65 8
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deformable hand models
rigid models
grasping
haptics
contact
simulation
large VEs
while grasping
hand models
grasping
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deformable hand models
rigid models
grasping
haptics
contact
simulation
large VEs
while grasping
hand models
grasping
+ Fast computation
+ Finger deformation
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from the centroid
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scanning after sharp edges
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grasping axis
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deformable hand models
rigid models
grasping
haptics
contact
simulation
large VEs
while grasping
hand models
grasping
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deformable hand models
rigid models
grasping
haptics
contact
simulation
large VEs
while grasping
hand models
grasping
limited workspaces
rigid proxies
exploration and manipulation
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[Dominjon et al., 2005]
hands from crossing
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the bubble positions and widths
as a “revolving door”
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velocities
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with a tolerance
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Object Proxy 𝐺ℎ1 𝐺ℎ2 𝐺
𝑝
𝑑
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control and exploration-only
techniques
manipulation conditions
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Control Exploration Manip. All
Number of object drops 5 10 15
*
Control Exploration Manip. All
Completion Time 10 20 30 40 Seconds
* * *
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Global appreciation Efficiency Learning Usability Fatigue
Ctrl
All Ctrl
All Ctrl
All Ctrl
All Ctrl
All
1 2 3 4 5 6 7
* * * * * * * * * *
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contact resolution with deformable hands
contact surfaces with point and rigid proxies
exploration in VEs and haptic manipulation with single-point haptic devices
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Techniques for Bimanual Haptics in Virtual Environments, pages 31–53. Springer Series on Touch and Haptic Systems, 2013.
Manipulation of 3D Objects with Two 3DOF Haptic Interfaces. In Proc. of Eurohaptics, pages 552–563, 2012.
through Simulation of Contact Area. In Proc. Of IEEE 3DUI, pages 111–114, 2013.
Augmenting Interaction and Perception in Virtual Environments. IEEE VR, 2015, accepted.
Haptic Manipulation in Virtual Environments. In Proc. of the 7th annual conference of the AFRV, 2012.
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