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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), 2016-11-02 - 2016-11-04, Garching, Munich. doi: 10.1145/2993369.2993386.

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


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sagardia, MikelUNSPECIFIEDhttps://orcid.org/0000-0001-7603-1717UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Date:2 November 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 153-162
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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