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Utilizing Vibration Patterns to Convey Impact Position in Haptic Manipulation of Virtual Objects

This research explores how vibration patterns can provide impact position information during haptic manipulation of virtual objects. By analyzing the effects of different vibration models, including low and high-frequency responses, the study investigates the potential of these vibrations to enhance realism and convey material properties. A preliminary evaluation involving participants assesses the association between vibration patterns and perceived impact locations, yielding insights into the effectiveness of various simplified vibration models, with implications for future developments in haptic feedback.

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Utilizing Vibration Patterns to Convey Impact Position in Haptic Manipulation of Virtual Objects

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  1. Using vibration patterns to provide impact position information in haptic manipulation of virtual objects 13/06/2008 Jean Sreng Anatole Lécuyer Claude Andriot jean.sreng@inria.fr

  2. Outline • Introduction • Vibration patterns • Evaluation • Conclusion OUTLINE

  3. Introduction • The impact between “rigid” objects : • A low-frequency reaction force of contact (simplified model) • A high-frequency force transient (more complex model) • This high-frequency force transient can be used in haptic rendering of impact (open-loop haptic) : • Improve the realism • Convey some information about the object’s material • Is-it possible to convey position information using this transient ?

  4. Vibrations and impact position • Chosen approach : • The impact generates vibrations depending on the impact position • Vibration model, a first approximation • Euler-Bernouilli cantilever beam

  5. Vibrations and impact position • General solution : Impact position

  6. Simplified vibration patterns • Simplified patterns based on the physical behavior • Simplified computation • Maybe easier perception ? • Chosen model : exponentially damped sinusoid • Amplitude changes with impact position • Frequency changes with impact position • Both amplitude and frequency changes

  7. Simplified vibration patterns Am Fr AmFr (Consistent) AmCFr (Conflicting) Far impact Near impact

  8. Evaluation • Preliminary evaluation : • Quantitative : “Between these two impacts which one was the closest one from the hand ?” • Qualitative : Subjective rating of the impact realism • Conducted on 15 subjects • Apparatus : • Virtuose6D device • Sound blocking noise headphones

  9. Quantitative evaluation ERRATUM Page 7 § 4.3 EB1: 10Hz, 64Hz EB2: 5Hz, 25Hz Other: 15Hz to 45Hz • Quantitative evaluation : “Between these two impacts which one was the closest one from the hand ?” • 6 models • 2 realistic models (Euler-Bernoulli) (EB1, EB2) • 4 simplified models (Am, Fr, AmFr, AmCFr) • 4 locations • 8 random repetitions • Total of 576 trials (40 min)

  10. Quantitative evaluation : results • The ratio of “good answers” was evaluated : “How well the user was able to associate a vibration and an impact location ?” 0.25 0.5 0.75 No association association Inverted association • The value was used to represent the overall performance 0.25 0 0.5 No association association

  11. Quantitative evaluation : results • Overall performance : • ANOVA Significant (p < 0.007) • Paired t-tests (p < 0.05) : • Am - • EB1 • EB2 • AmCFr • Fr - • EB1 • EB2

  12. Quantitative evaluation : results • Inversion ratio : The ratio of users who inverted the association between the vibration pattern and the position

  13. Qualitative evaluation : results • Rate the impact realism : • Paired t-tests : • Am • EB1 • EB2 • Fr • AmFr • EB2 • Fr • AmCFr

  14. Discussion • Global weak inter – subject correlation : • Each subject seems to have his/her own interpretation (inversion or not) • Strong intra – subject consistency : • Subjects seem to be very consistent within his/her interpretation • Several strong inter – subject correlation between models : • Fr and AmCFr strongly correlated

  15. Conclusion • We proposed several vibration patterns to convey impact position information • We conducted a preliminary evaluation : • The user is able to use the vibration pattern to get an impact position information • The simplified models Am and Fr seems to perform better • Future work : • Evaluate the role of the hand impedance and the haptic device bandwidth to elaborated more effective feedback • Deeper analysis of the data • New models

  16. ? Questions ?

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