Spatialized Haptic Rendering: Providing Impact Position Information in 6DOF Haptic Simulations Using Vibrations
Identifieur interne : 004050 ( Main/Merge ); précédent : 004049; suivant : 004051Spatialized Haptic Rendering: Providing Impact Position Information in 6DOF Haptic Simulations Using Vibrations
Auteurs : Jean Sreng [France] ; Anatole Lécuyer [France] ; Claude Andriot [France] ; Bruno Arnaldi [France]Source :
Abstract
In this paper we introduce a "spatialized haptic rendering" technique to enhance 6DOF haptic manipulation of virtual objects with impact position information using vibrations. This rendering technique uses our perceptive ability to determine the contact position by using the vibrations generated by the impact. In particular, the different vibrations generated by a beam are used to convey the impact position information. We present two experiments conducted to tune and evaluate our spatialized haptic rendering technique. The first experiment investigates the vibration parameters (amplitudes/frequencies) needed to enable an efficient discrimination of the force patterns used for spatialized haptic rendering. The second experiment is an evaluation of spatialized haptic rendering during 6DOF manipulation. Taken together, the results suggest that spatialized haptic rendering can be used to improve the haptic perception of impact position in complex 6DOF interactions.
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DOI: 10.1109/VR.2009.4810990
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CS 70839 - 35708 Rennes cedex 7</addrLine><country key="FR"></country></address><ref type="url">http://www.insa-rennes.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle name="UMR6074" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-6862" type="direct"><org type="institution" xml:id="struct-6862" status="VALID"><orgName>École normale supérieure - Cachan</orgName><orgName type="acronym">ENS Cachan</orgName><desc><address><addrLine>61, avenue du Président Wilson - 94230 Cachan</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-cachan.fr/</ref></desc></org></tutelle><tutelle active="#struct-419153" type="direct"><org type="laboratory" xml:id="struct-419153" status="VALID"><idno type="RNSR">198018249C</idno><orgName>Inria Rennes – Bretagne Atlantique </orgName><desc><address><addrLine>Campus de beaulieu35042 Rennes cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/rennes</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Rennes</settlement><region type="region" nuts="2">Région Bretagne</region></placeName><orgName type="university">Université de Rennes 1</orgName><orgName type="institution" wicri:auto="newGroup">Université européenne de Bretagne</orgName></affiliation></author><author><name sortKey="Andriot, Claude" sort="Andriot, Claude" uniqKey="Andriot C" first="Claude" last="Andriot">Claude Andriot</name><affiliation wicri:level="1"><hal:affiliation type="department" xml:id="struct-40217" status="VALID"><orgName>Laboratoire d'Intégration des Systèmes et des Technologies</orgName><orgName type="acronym">LIST</orgName><desc><address><addrLine>DRT/LISTNano-INNOVAvenue de la Vauve91120 Palaiseau</addrLine><country key="FR"></country></address><ref type="url">http://www-list.cea.fr/</ref></desc><listRelation><relation name="DRT/LIST" active="#struct-300016" type="direct"></relation><relation active="#struct-419361" type="direct"></relation></listRelation><tutelles><tutelle name="DRT/LIST" active="#struct-300016" type="direct"><org type="institution" xml:id="struct-300016" status="VALID"><orgName>CEA</orgName><orgName type="acronym">CEA - DEN/DM2S/SEMT</orgName><desc><address><addrLine>CEA Saclay - 91191 Gif-Sur-Yvette</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-419361" type="direct"><org type="institution" xml:id="struct-419361" status="VALID"><orgName>Université Paris Saclay</orgName><desc><address><addrLine>Espace Technologique, Bat. Discovery - RD 128 - 2e ét., 91190 Saint-Aubin</addrLine><country key="FR"></country></address><ref type="url">https://www.universite-paris-saclay.fr/fr</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Arnaldi, Bruno" sort="Arnaldi, Bruno" uniqKey="Arnaldi B" first="Bruno" last="Arnaldi">Bruno Arnaldi</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-27423" status="OLD"><idno type="RNSR">200718345P</idno><orgName>Perception, decision and action of real and virtual humans in virtual environments and impact on real environments</orgName><orgName type="acronym">BUNRAKU</orgName><date type="start">2007-07-01</date><date type="end">2010-12-31</date><desc><address><addrLine>Campus de Beaulieu, 35042 Rennes cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.irisa.fr/bunraku/</ref></desc><listRelation><relation active="#struct-2494" type="direct"></relation><relation active="#struct-105160" type="indirect"></relation><relation active="#struct-117606" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation name="UMR6074" active="#struct-441569" type="indirect"></relation><relation active="#struct-6862" type="direct"></relation><relation active="#struct-419153" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-2494" type="direct"><org type="laboratory" xml:id="struct-2494" status="OLD"><orgName>Institut de Recherche en Informatique et Systèmes Aléatoires</orgName><orgName type="acronym">IRISA</orgName><desc><address><addrLine>Campus universitaire de Beaulieu - 35042 Rennes</addrLine><country key="FR"></country></address><ref type="url">http://www.irisa.fr/</ref></desc><listRelation><relation active="#struct-105160" type="direct"></relation><relation active="#struct-117606" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation name="UMR6074" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-105160" type="indirect"><org type="institution" xml:id="struct-105160" status="VALID"><orgName>Université de Rennes 1</orgName><orgName type="acronym">UR1</orgName><desc><address><addrLine>2 rue du Thabor - CS 46510 - 35065 Rennes cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-rennes1.fr/</ref></desc></org></tutelle><tutelle active="#struct-117606" type="indirect"><org type="institution" xml:id="struct-117606" status="VALID"><orgName>Institut National des Sciences Appliquées - Rennes</orgName><orgName type="acronym">INSA Rennes</orgName><desc><address><addrLine>20, avenue des Buttes de Coësmes - CS 70839 - 35708 Rennes cedex 7</addrLine><country key="FR"></country></address><ref type="url">http://www.insa-rennes.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle name="UMR6074" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-6862" type="direct"><org type="institution" xml:id="struct-6862" status="VALID"><orgName>École normale supérieure - Cachan</orgName><orgName type="acronym">ENS Cachan</orgName><desc><address><addrLine>61, avenue du Président Wilson - 94230 Cachan</addrLine><country key="FR"></country></address><ref type="url">http://www.ens-cachan.fr/</ref></desc></org></tutelle><tutelle active="#struct-419153" type="direct"><org type="laboratory" xml:id="struct-419153" status="VALID"><idno type="RNSR">198018249C</idno><orgName>Inria Rennes – Bretagne Atlantique </orgName><desc><address><addrLine>Campus de beaulieu35042 Rennes cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre/rennes</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Rennes</settlement><region type="region" nuts="2">Région Bretagne</region></placeName><orgName type="university">Université de Rennes 1</orgName><orgName type="institution" wicri:auto="newGroup">Université européenne de Bretagne</orgName></affiliation></author></analytic><idno type="DOI">10.1109/VR.2009.4810990</idno></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper we introduce a "spatialized haptic rendering" technique to enhance 6DOF haptic manipulation of virtual objects with impact position information using vibrations. This rendering technique uses our perceptive ability to determine the contact position by using the vibrations generated by the impact. In particular, the different vibrations generated by a beam are used to convey the impact position information. We present two experiments conducted to tune and evaluate our spatialized haptic rendering technique. The first experiment investigates the vibration parameters (amplitudes/frequencies) needed to enable an efficient discrimination of the force patterns used for spatialized haptic rendering. The second experiment is an evaluation of spatialized haptic rendering during 6DOF manipulation. Taken together, the results suggest that spatialized haptic rendering can be used to improve the haptic perception of impact position in complex 6DOF interactions.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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