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), 2016-11-02 - 2016-11-04, Garching, Munich. doi: 10.1145/2993369.2993386.
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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/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Keynote) | ||||||||||||||||||||||||
Title: | A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments | ||||||||||||||||||||||||
Authors: |
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Date: | 2 November 2016 | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
DOI: | 10.1145/2993369.2993386 | ||||||||||||||||||||||||
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 Start Date: | 2 November 2016 | ||||||||||||||||||||||||
Event End Date: | 4 November 2016 | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Vorhaben On-Orbit Servicing - GNC und VR (old) | ||||||||||||||||||||||||
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: | 24 Apr 2024 20:12 |
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