Haptic Hybrid Rotations: Overcoming Hardware Angular Limitations of Force-Feedback Devices

Authors:
Lionel Dominjon;Simon Richir;Anatole Lecuyer;Jean-Marie Burkhardt
Affiliations:
University of Angers;University of Angers;SIAMES Project INRIA/IRISA;EIFFEL Project, University of Paris 5/INRIA
Venue:
VR '06 Proceedings of the IEEE conference on Virtual Reality
Year:
2006

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Abstract

This paper describes a new interaction technique called haptic hybrid rotations to overcome the physical angular limitations of force-feedback devices when manipulating virtual objects. This technique is based on a hybrid control of the object manipulated with the device. When approaching the angular mechanical stops of the device, the control mode switches from angular position-control to rate-control. The forcefeedback of the device is used to simulate the use of an elastic device in the rate-control mode. An experiment was carried out to compare this technique with two other common alternatives that are used when manipulating virtual objects with force-feedback devices: rotations scaling, and the clutching technique. Our results showed that haptic hybrid rotations were both the fastest and the most appreciated technique for the proposed experiment.