Haptic rendering for under-actuated 6/3-DOF haptic devices
An experimental study was designed to assess the influence of our torque simulation system on perceiving the missing physical torque feedback when using an under-actuated 6/3-DOF haptic device. We prepared three scenes presenting different interaction scenarios: Teeth, Piping and Ear scene. In each scene, the participant's task was to use the haptic probe to touch a visible checkpoint for 3 seconds until it disappeared and a next checkpoint became visible.
Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6-DOF haptic rendering algorithm and tested on an under-actuated haptic device in a user study. We found that by applying our torque simulation system, the torque perception increases significantly and that 6/3-DOF devices can be used in complex tasks involving 6-DOF interactions.
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The work was supported by the GA UK 2062214 and SVV-2014–260103 grants.