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Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton

Schmidt, Annika and Pereira, Aaron and Baker, Thomas and Pleintinger, Benedikt and Hulin, Thomas and Chen, Zhaopeng and Abbink, David A. and Lii, Neal Y. (2020) Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton. In: 2020 IEEE International Conference on Systems, Man and Cybernetics, SMC 2020. IEEE. IEEE International Conference on Systems, Man, and Cybernetics (SMC), 11-14 Oct 2020, Toronta, Canada. doi: 10.1109/SMC42975.2020.9283274. ISBN 978-1-7281-8526-2. ISSN 2577-1655.

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Official URL: https://ieeexplore.ieee.org/document/9283274


Advances in exoskeleton technology now enable interacting with rigid objects in a virtual or remote environment using one's hand and fingertips. However, interaction with non-solid materials - such as liquids, sediments and regolith - alongside solids, can greatly extend the versatility of this technology. Rendering rigid objects adequately requires a control loop with high update rates, whereas fluid dynamics equations are computationally expensive. To accommodate this, the fluid dynamics can be simplified - particularly for fluids with high viscosity - resulting in a fast-to-calculate model to enabling haptic rendering of viscous fluids and rigid bodies simultaneously using DLR's Exodex Adam hand exoskeleton. Viscosity as a proprioceptive cue of fluids can be presented to the human through force feedback at multiple points on the human hand - fingers and palm - letting the user interact with a virtual environment in a more natural way and making the experience more immersive. We carry out two user studies to investigate the human perception abilities of virtual fluids rendered with simplified dynamics, and the discernability of different viscosity in virtual fluids compared real fluids. Results show that virtual media can give the user the perception of interacting with a fluid, even with simplified models, at a high update frequency. Furthermore, the material discernibility corresponds well to actual interaction with real viscous fluids. This shows great promise forward for haptic in-hand interaction in fluid and mixed media environments.

Item URL in elib:https://elib.dlr.de/138657/
Document Type:Conference or Workshop Item (Speech)
Title:Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Schmidt, Annikaannika.schmidt (at) dlr.dehttps://orcid.org/0000-0002-4718-4201
Pereira, AaronAaron.Pereira (at) dlr.deUNSPECIFIED
Baker, ThomasTom.mail.baker (at) gmail.comUNSPECIFIED
Pleintinger, BenediktBenedikt.Pleintinger (at) dlr.deUNSPECIFIED
Hulin, ThomasThomas.Hulin (at) DLR.dehttps://orcid.org/0000-0002-3814-075X
Chen, ZhaopengZhaopeng.Chen (at) dlr.deUNSPECIFIED
Abbink, David A.Delft University of TechnologyUNSPECIFIED
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Date:October 2020
Journal or Publication Title:2020 IEEE International Conference on Systems, Man and Cybernetics, SMC 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/SMC42975.2020.9283274
Keywords:Robotic Systems, Haptic Interactions, Virtual Viscosity
Event Title:IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Event Location:Toronta, Canada
Event Type:international Conference
Event Dates:11-14 Oct 2020
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 Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Schmidt, Annika
Deposited On:16 Dec 2020 14:18
Last Modified:11 Mar 2022 15:52

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