HapticLever Kinematic Force Feedback using a 3D Pantograph_2

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HapticLever: Kinematic Force Feedback using a 3D Pantograph

Marcus Friedel

University of Calgary

Calgary, Canada

marcus.friedel@ucalgary.ca

Ehud Sharlin

University of Calgary

Calgary, Canada

ehud@cpsc.ucalgary.ca

Ryo Suzuki

University of Calgary

Calgary, Canada

ryo.suzuki@ucalgary.ca

Figure 1: HapticLever is a design concept for large-scale VR haptics which passively transforms a small-scale constraint into

a sti, realistic, large-scale render.

ABSTRACT

HapticLever is a new kinematic approach for VR haptics which

uses a 3D pantograph to stiy render large-scale surfaces using

small-scale proxies. The HapticLever approach does not consume

power to render forces, but rather puts a mechanical constraint on

the end eector using a small-scale proxy surface. The HapticLever

approach provides sti force feedback when the user interacts with

a static virtual surface, but allows the user to move their arm freely

when moving through free virtual space. We present the problem

space, the related work, and the HapticLever design approach.

CCS CONCEPTS

•Human-centered computing →Virtual reality

;

Haptic de-

vices.

KEYWORDS

haptics, force feedback, virtual reality, robotics, user interfaces

ACM Reference Format:

Marcus Friedel, Ehud Sharlin, and Ryo Suzuki. 2022. HapticLever: Kinematic

Force Feedback using a 3D Pantograph. In The Adjunct Publication of the

35th Annual ACM Symposium on User Interface Software and Technology

(UIST ’22 Adjunct), October 29-November 2, 2022, Bend, OR, USA. ACM, New

York, NY, USA, 4 pages. https://doi.org/10.1145/3526114.3558736

Permission to make digital or hard copies of part or all of this work for personal or

classroom use is granted without fee provided that copies are not made or distributed

for prot or commercial advantage and that copies bear this notice and the full citation

on the rst page. Copyrights for third-party components of this work must be honored.

For all other uses, contact the owner/author(s).

UIST ’22 Adjunct, October 29-November 2, 2022, Bend, OR, USA

ACM ISBN 978-1-4503-9321-8/22/10.

https://doi.org/10.1145/3526114.3558736

1 INTRODUCTION AND RELATED WORK

Rendering large-scale, high-stiness shapes and surfaces remains

a challenge in haptics. Most of today’s haptic devices are hand-

held [

] or focus on hand and nger haptics [

Those which attempt to render a net force on the user [

]

are unable to render sti interactions. Haptic devices designed for

large-scale interactions either use a force-based dynamics approach

or a force-independent kinematics approach. Dynamics approaches

to haptics are concerned with the forces on the user, whereas Kine-

matics approaches are concerned with the user’s allowed motion.

Large-scale, high-stiness physical interactions such as a hand on a

tabletop can be better represented as a degree of freedom reduction

of the hand, rather than as a time-series of applied forces.

Large-scale dynamics approaches [

] shake and oscillate

when rendering sti surfaces, must consumer power to render any

force, and encumber the user with a constant resistance. These

devices shake and oscillate because of the cantilever eect on their

serial links and because they use a feedback control system which

interfaces with the unpredictable, unmodellable human user. The

maximum force these devices can apply is limited by the actuator

strength, and if users exceed this limit then the device will oscillate

or break. Because these devices directly actuate the mechanism

joints directly, they must consume power to engage a force, to

sustain a force, and often to compensate for gravity even when

not rendering a force. These devices constantly resist the user’s

motion because of acturator back-torque, in the case of impedance

control, or active motor pushback, in the case of admittance control.

The advantages of the dynamics approach are that it needs only to

provide an on-demand touchpoint for the user and that it is versatile

and can be programmed to render many dierent interactions.

Kinematics approaches primarily take the form of recongurable

proxies at large-scale and mechanical constraints at small-scale.

arXiv:2210.01362v1 [cs.HC] 4 Oct 2022

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摘要：

HapticLever:KinematicForceFeedbackusinga3DPantographMarcusFriedelUniversityofCalgaryCalgary,Canadamarcus.friedel@ucalgary.caEhudSharlinUniversityofCalgaryCalgary,Canadaehud@cpsc.ucalgary.caRyoSuzukiUniversityofCalgaryCalgary,Canadaryo.suzuki@ucalgary.caFigure1:HapticLeverisadesignconceptforlarge-sca...

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HapticLever Kinematic Force Feedback using a 3D Pantograph_2

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