User performance in relation to 3D input device design
ACM SIGGRAPH Computer Graphics
PHANToM haptic device implemented in a projection screen virtual environment
EGVE '03 Proceedings of the workshop on Virtual environments 2003
String-Based Haptic Interface Device for Multi-Fingers
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
MHaptic: a Haptic Manipulation Library for Generic Virtual Environments
CW '07 Proceedings of the 2007 International Conference on Cyberworlds
Bimanual haptic-desktop platform for upper-limb post-stroke rehabilitation: practical trials
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Collision avoidance control for a multi-fingered bimanual haptic interface
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Dynamic Performance of Mobile Haptic Interfaces
IEEE Transactions on Robotics
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This paper presents a set of novel interactive techniques adapted to two-handed manipulation of objects with dual 3DoF single-point haptic devices. We first propose the double bubble for bimanual haptic exploration of virtual environments through hybrid position/rate controls, and a bimanual viewport adaptation method that keeps both proxies on screen in large environments. We also present two bimanual haptic manipulation techniques that facilitate pick-and-place tasks: the joint control, which forces common control modes and control/display ratios for two interfaces grabbing an object, and the magnetic pinch, which simulates a magnet-like attraction between both hands to prevent unwanted drops of that object. An experiment was conducted to assess the efficiency of these techniques for pick-and-place tasks, by comparing the double bubble with viewport adaptation to the clutching technique for extending the workspaces, and by measuring the benefits of the joint control and magnetic pinch.