Shaping Event-Based Haptic Transients Via an Improved Understanding of Real Contact Dynamics

Loading...
Thumbnail Image
Penn collection
Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
GRASP
Engineering
Mechanical Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
Abstract

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.

Advisor
Date of presentation
2007-04-02
Conference name
Departmental Papers (MEAM)
Conference dates
2023-05-17T03:59:08.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Suggested Citation: Fiene, Jonathan P. and Katherine J. Kuchenbecker. (2007). Shaping Event-Based haptic Transiets Via and Improved Understanding of Real Contact Dynamics. Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07). Tsukuba, Japan. March 22-24, 2007. ©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Recommended citation
Collection