Rendering of Virtual Volumetric Shapes Using an Electromagnetic-Based Haptic Interface

Alaa Adel, Mina M. Micheal, Mohamed Abou Self, Slim Abdennadher, Islam S.M. Khalil

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)

Abstract

Mid-Air haptic devices have become an active area of research because of their potential impact to augmented/virtual reality. In this work, we develop an electromagnetic-based haptic interface to provide controlled magnetic forces on a wearable orthopedic finger splint with a single magnetic dipole. We model the electromagnetic forces exerted on the finger splint, optimize the design of the electromagnetic coils, and develop an impedance-type haptic rendering algorithm using position feedback. This rendering algorithm capitalizes on minimizing the error between the exerted magnetic force and the desired constraint force of a virtual three-dimensional (3D)object based on the position of the finger splint. In order to investigate the influence of incorporating position feedback, we conduct a comparative study for the same group of participants with (Case I)and without (Case II)position feedback. Our experimental results show that position feedback enables participants to achieve success rate of 66.87 $\pm$ 15.0% $(n=160)$ in distinguishing between the geometry of four 3D virtual objects. This rate is decreased to 55.15 $\pm$ 15.8% $(n=160)$ in the absence of position feedback. Our analysis shows statistical evidence to conclude that the mean success rate for Case I is greater than that of Case II, at $\alpha=0.1$ and 90% confidence level.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages8737-8742
Number of pages6
ISBN (Electronic)978-1-5386-8094-0, 978-1-5386-8093-3 (USB)
ISBN (Print)978-1-5386-8095-7
DOIs
Publication statusPublished - 27 Dec 2018
Externally publishedYes
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Volume2018
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Abbreviated titleIROS 2018
Country/TerritorySpain
CityMadrid
Period1/10/185/10/18
Internet address

Keywords

  • n/a OA procedure

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