Fiene, Jonathan P.
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Publication Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact(2005-04-04) Kuchenbecker, Katherine J.; Fiene, Jonathan P.; Niemeyer, GünterContact in a typical haptic environment resembles the experience of tapping on soft foam, rather than on a hard object. Event-based, high-frequency transient forces must be superimposed with traditional proportional feedback to provide realistic haptic cues at impact. We have developed a new method for matching the accelerations experienced during real contact, inverting a dynamic model of the device to compute appropriate force feedback transients. We evaluated this haptic rendering paradigm by conducting a study in which users blindly rated the realism of tapping on a variety of virtually rendered surfaces as well as on three real objects. Event-based feedback significantly increased the realism of the virtual surfaces, and the acceleration matching strategy was rated similarly to a sample of real wood on a foam substrate. This work provides a new avenue for achieving realism of contact in haptic interactions.Publication Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics(2007-04-02) Fiene, Jonathan P.; Kuchenbecker, Katherine J.Haptic interactions with stiff virtual surfaces feel more realistic when a short-duration transient is added to the spring force at contact. But how should this event-based transient be shaped? To answer this question, we present a targeted user study on virtual surface realism that demonstrates the importance of scaling transients correctly and hints at the complexity of this dynamic relationship. We then present a detailed examination of the dynamics of tapping on a rigid surface with a hand-held probe; theoretical modeling is combined with empirical data to determine the influence of impact velocity, impact acceleration, and user grip force on the resulting transient surface force. The derived mathematical relationships provide a formula for generating open-loop, event-based force transients upon impact with a virtual surface. By incorporating an understanding of the dynamics of real interactions into the re-creation of virtual contact, these findings promise to improve the performance and realism of a wide range of haptic simulations.Publication A high fidelity ungrounded torque feedback device: The iTorqU 2.0(2009-04-03) Winfree, Kyle N; Gewirtz, Jamie E; Mather, Thomas; Fiene, Jonathan; Kuchenbecker, Katherine JThis paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications. Based upon the gyroscopic effect, the iTorqU 2.0 uses a metal flywheel inside of a two-axis actuated gimbal to create directional torques that are applied to the user's hand. The coupling of angular velocity and angular momentum creates a torque that is orthogonal to the two input angular velocities, giving the user the impression that their hand is being twisted in free air. Following a review of prior work in the field of ungrounded torque feedback devices, we first present our preliminary prototype, the iTorqU 1.0. Building on empirical observations and user feedback from a public demonstration, we revised and augmented this design to create the iTorqU 2.0. This paper covers the major mechanical, electrical, and controls design considerations that went into creating the iTorqU 2.0, along with an analysis of its torque output capabilities.