6DOF Whole-Hand Haptic Interaction System Based on Hybrid Grasping Approach

Authors:
Yongwan Kim;Yongseok Jang;Wookho Son;Jinah Park
Affiliations:
Electronics and Communications Research Institute, Daejeon, Korea 305-700 and Information and Communications University, Daejeon, Korea 305-732;Electronics and Communications Research Institute, Daejeon, Korea 305-700;Electronics and Communications Research Institute, Daejeon, Korea 305-700;Information and Communications University, Daejeon, Korea 305-732
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

Although haptic interaction which provides direct touch sensation is the most natural way of interacting with VR environment, existing haptic solutions are not yet fully satisfying due to the interaction problems such as the hand penetration, frictionlessness, lack of visual feedback, and so on. Among these problems, the hand penetration problem which is an effect sinking into a virtual object is the most visually distracting artifact in grasping, and it is mainly caused by the incomplete physical capabilities of haptic devices and poor grasping manipulation. To address this problem, we have developed a realistic haptic interaction system, which consists of the new 6DOF whole-hand hardware combined with a glove-type device, and propose a hybrid grasping method which intelligently uses both heuristic and physics-based approach.