Expanding the usable

workspace of a haptic device

by placing it on a
moving base
Isaac Garlington


Introduction
Haptics refers to the sensing of force, weight, or other physical properties
through feeling and touch. [1]
In virtual reality, haptic arm devices are used to provide force feedback as
user interacts with objects in virtual environment and utilized for the
medical industry and virtual assembly.



Figure 1: Medical Student Taking Blood Figure 2: Assembly Operation
______________________________________________________________________________________________________
Photos Courtesy: www.123rf.com

Motivation

Its desired to have virtual assembly tasks as realistic as
possible to manual assembly in industry.
Many tasks completed for manufacturing assembly require
full arm movement.

In virtual assembly tasks, operators need full arm
movement with force feedback for ergonomic
studies of product design in a virtual environment
for a desktop haptic interface

How is the force exerted by the system affected if the XY
table is in motion while the haptic arm device is exerting
force?
Is there any error in the force due to communication
latency?


______________________________________________________________________________________________________
Photo Courtesy: http://kristinzdesign.blogspot.com/2011/06/si-project-making-process-sketchbook_09.html

Figure 3: Phantom Omni Haptic Arm
Device
Related Work
Large-scale haptics
Self-grounded Haptic Interface
Tensed Cable Robot
Haptic Device with a redundant Degree of Freedom
Mobile Haptic Interface
Figure 4: HapticGEAR Exoskeleton
Figure 5: Spidar Tensed Cable Robot
Figure 6: Haption with Redundant Degree
of Freedom at CEA/LIST
Figure 7: Prototype of Mobile haptic interface by Nitzsche
Methods
Virtual Wall Interaction
Figure 8: Interaction between haptic device, XY table,
and virtual wall
Figure 9: Free Body Diagram of haptic device arm
Figure 10: Free Body Diagram of XY table
F
H
= Force from Hand

2
= Force of Haptic Device

1
= Force of XY Table
m
1
= Mass of XY Table
m
2
= Mass of Haptic end effector

.
.

2

b
1
x
1

m
2
x
1

b
2
x
2

m
1

..
.
m
2
x
H

F
H

2

b
2
x
2

m
2

..
.
)
`

=
)
`

+
)
`

H
F x
x
b
b b
x
x
m m
m
2
2 1
2
1
2
2 1
2
1
2 2
1
0
0
t
t t

Figure 11: State Space Representation
Methods
Free Space Case Virtual Wall Case

( )
2 1 2
x x K x K
E H E
+ = = t 0
2
= t
2 1 1
x K
p
= t
2 1 1
x K
p
= t
H E H
x K F =
0 =
H
F
Methods
Supporting Software
SPARTA
Allows for computer aided design
models to be loaded and manipulated
using haptic force feedback
HAL
Control software designed for the purpose of configuring variety of hardware
devices.
Hardware
Sensable Phantom Omni
Max Force Output - 3.3 Newtons
Rhino Robotics XY-table
Max Voltage - 36 Volts
Nominal Speed - 0.0381 m/s

Figure 12: SPARTA virtual factory environment

Figure 13: Sensable Phantom Omni
with Rhino Robotics XY table
Methods
Figure 14: System Flow of Information
VR
Computer
XY Table
Control
Computer
T
T
X
1
X
1
X
Hand
X
Hand
Figure 15: Time Delay between computers
Figure 16: Steps in the Experiment
Results
K
E
=800 N/m K
P1
=590 V/m
Figure 17: Position of haptic device, XY table, and hand
0 5 10 15 20 25 30
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
Time, t, sec
D
i
s
t
a
n
c
e

M
o
v
e
d

(
m
)
Time Vs. Distance (With Time Offset)


x
1
-base
x
2
-Haptic Device
x
Hand
- t
2
/Ke
Results
K
E
=800 N/m K
P1
=590 V/m
0 5 10 15 20 25 30
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
Time, t, sec
D
i
s
t
a
n
c
e

M
o
v
e
d

(
m
)
Time Vs. Distance (With Time Offset)


x
1
-base
x
2
-Haptic Device
x
Hand
- t
2
/Ke
Figure 17: Position of haptic device, XY table, and hand
Results
K
E
=800 N/m K
P1
=590 V/m
5.5 6 6.5 7 7.5 8 8.5
-5
0
5
10
x 10
-3
Time, t, sec
D
i
s
t
a
n
c
e

M
o
v
e
d

(
m
)
Time Vs. Distance (With Time Offset)


x
1
-base
x
2
-Haptic Device
x
Hand
- t
2
/Ke
Figure 18: Position during interaction at virtual wall
Results
K
E
=800 N/m K
P1
=590 V/m
-8 -6 -4 -2 0 2 4 6 8
x 10
-3
-6
-4
-2
0
2
4
6
8
Hand Position, x
Hand
, meters
H
a
p
t
i
c

F
o
r
c
e

F
e
e
d
b
a
c
k

D
e
v
i
c
e
,

t
2
,

N
e
w
t
o
n
s
x
Hand
Vs. t
2


K
E
* x
Hand
t
2
t
2 Prime
Figure 19: Force of Haptic device vs. hand position
Results
K
E
=800 N/m K
P1
=590 V/m
-8 -6 -4 -2 0 2 4 6 8
x 10
-3
-6
-4
-2
0
2
4
6
8
Hand Position, x
Hand
, meters
H
a
p
t
i
c

F
o
r
c
e

F
e
e
d
b
a
c
k

D
e
v
i
c
e
,

t
2
,

N
e
w
t
o
n
s
x
Hand
Vs. t
2


K
E
* x
Hand
t
2
t
2 Prime
Figure 19: Force of Haptic device vs. hand
Results
K
E
=800 N/m K
P1
=590 V/m
-8 -6 -4 -2 0 2
x 10
-4
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
Hand Position, x
Hand
, meters
H
a
p
t
i
c

F
o
r
c
e

F
e
e
d
b
a
c
k

D
e
v
i
c
e
,

t
2
,

N
e
w
t
o
n
s
x
Hand
Vs. t
2


K
E
* x
Hand
t
2
t
2 Prime
Figure 20: Close-Up of haptic device force vs. hand position
Results
K
E
=800 N/m K
P1
=590 V/m
6.6 6.8 7 7.2 7.4 7.6 7.8
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
time, t, sec
F
o
r
c
e

e
r
r
o
r
,

t
2
,

N
Time vs. Force error
Figure 21: Error of haptic device force vs. desired force output
Conclusion
Figures show that the communication between the two computers has a
minimal effect on the force produced by haptic device.
Force produced by haptic device still matches the appropriate value even
though the XY table is moving beneath the haptic device independent of
the speed of the XY table
While hand is in free space, no force is exerted by the haptic device.
With higher environmental stiffness, it requires a smaller depth into wall
before maximum force is exerted.


Conclusion
Increase the workspace so that a user of the haptic
device with the XY table can have large movement of
the arm




Figure 22: Comparison of haptic device force-feedback
workspace to workspace with redundant axes
Future Work
Interaction with a virtual corner
Larger-scale implementation

References
[1] A. Fischer and J. M. Vance. 2003. PHANToM haptic device implemented in a projection screen virtual environment.
In Proceedings of the workshop on Virtual environments
[2] Hirose, M.; Hirota, K.; Ogi, T.; Yano, H.; Kakehi, N.; Saito, M.; Nakashige, M.; , "HapticGEAR: the development of a
wearable force display system for immersive projection displays," Virtual Reality, 2001. Proceedings. IEEE , vol., no.,
pp.123-129, 17-17 March 2001
[3] Ishii and M.Sato, 1994a, A 3D Spacial Interface Device Using Tensioned Strings, Presence-Teleoperators and
Virtual environments, Vol. 3. No 1, MIT Press, Cambridge, Ma, pp 81-86
[4] Gosselin, Florian; Andriot, Claude; Bergez, Florian; Merlhiot, Xavier; , "Widening 6-DOF haptic devices workspace
with an additional degree of freedom," EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual
Environment and Teleoperator Systems. World Haptics 2007. Second Joint , vol., no., pp.452-457, 22-24 March 2007
[5] Lionel Dominjon , Jrme Perret , Anatole Lcuyer, Novel devices and interaction techniques for human-scale
haptics, The Visual Computer: International Journal of Computer Graphics, v.23 n.4, p.257-266, March 2007
[6] N. Nitzsche, U. D. Haneheck and G. Schmidt, "Design issues of mobile haptic interfaces: Joumal of Robotic Syasms,
vol. 20, no.9, pp. 549-556. 06 2003.



http://kristinzdesign.blogspot.com/2011/06/si-project-making-process-sketchbook_09.html
Questions

Acknowledgements
Dr. Judy M. Vance
Dr. Greg R. Luecke
Dr. Derrick K. Rollins
Don Kieu
Chris Walck
Ryan Pavlik
Leif Berg