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A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments

Sagardia, Mikel and Hulin, Thomas and Hertkorn, Katharina and Kremer, Philipp and Schätzle, Simon (2016) A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments. ACM Symposium on Virtual Reality Software and Technology (VRST), 02-04 Nov 2016, Garching, Munich.

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Official URL: http://www.vrst2016.lrz.de/

Abstract

We present a virtual reality platform which addresses and integrates some of the currently challenging research topics in the field of virtual assembly: realistic and practical scenarios with several complex geometries, bimanual six-DoF haptic interaction for hands and arms, and intuitive navigation in large workspaces. We put an especial focus on our collision computation framework, which is able to display stiff and stable forces in 1 kHz using a combination of penalty- and constraint-based haptic rendering methods. Interaction with multiple arbitrary geometries is supported in realtime simulations, as well as several interfaces, allowing for collaborative training experiences. Performance results for an exemplary car assembly sequence which show the readiness of the system are provided.

Item URL in elib:https://elib.dlr.de/107434/
Document Type:Conference or Workshop Item (Keynote)
Title:A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sagardia, MikelMikel.Sagardia (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) dlr.deUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Kremer, PhilippPhilipp.Kremer (at) dlr.deUNSPECIFIED
Schätzle, SimonSimon.Schaetzle (at) dlr.deUNSPECIFIED
Date:2 November 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 153-162
Status:Published
Keywords:haptic rendering, virtual assembly, haptic devices, interaction techniques
Event Title:ACM Symposium on Virtual Reality Software and Technology (VRST)
Event Location:Garching, Munich
Event Type:international Conference
Event Dates:02-04 Nov 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sagardia, Mikel
Deposited On:30 Nov 2016 17:43
Last Modified:31 Jul 2019 20:04

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