DESIGN OF A VIBROTACTILE FEEDBACK VIRTUAL ... - IEEE
DESIGN OF A VIBROTACTILE FEEDBACK VIRTUAL ... - IEEE
DESIGN OF A VIBROTACTILE FEEDBACK VIRTUAL ... - IEEE
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<strong>DESIGN</strong> <strong>OF</strong> A<br />
<strong>VIBROTACTILE</strong> <strong>FEEDBACK</strong><br />
<strong>VIRTUAL</strong> TESTBED<br />
Li-Te Cheng<br />
Multimedia Communications<br />
Laboratory<br />
Faculty of Engineering & Applied<br />
Science<br />
Memorial University of Newfoundland<br />
St. John’s, Newfoundland, CANADA<br />
May 26, 1997 - CCECE ‘9
Outline<br />
• Introduction<br />
• Experimental Design<br />
• System Requirements & Constraints<br />
• Architecture & Component Selection<br />
• Software Implementation<br />
• Performance<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Introduction<br />
• Virtual Reality (VR)<br />
– interactive, 3D, multimedia environment<br />
• Vibration feedback substituting for force<br />
– easily produced, sensed, and controlled<br />
• Objective:<br />
– present underlying<br />
software<br />
architecture to<br />
implement virtual<br />
grasping experiment<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Experimental Design<br />
• Experimental Goal:<br />
– evaluate vibrotactile, visual, and audio feedback<br />
– metrics: completion time and degree of damage<br />
• Task:<br />
– “pick and place” fragile grape in virtual environment<br />
• Feedback modes:<br />
– vibration, colour, and sound<br />
• Participants:<br />
– control group (12), vibration group (12)<br />
– practice + 6 trials over 3 sessions in one week<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
System Requirements & Constraints<br />
Hardware Software<br />
3D Tracking monitor hand position Graphics visual<br />
feedback<br />
Grasping Input measure finger flexion Audio<br />
audio feedback<br />
Tactile Feedback vibration ~ pressure Model<br />
modeling & recording<br />
Visual/Audio<br />
visual/audio cues<br />
Constraint Drivers<br />
Minimize price<br />
Maximize Comfort<br />
Minimize Implementation Time Maximize System<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Performance<br />
Li-Te Cheng, Memorial University of Newfoundland<br />
May 26, 1997 -<br />
CCECE ‘97
Architecture & Component Selection<br />
Tactile Feedback<br />
Software<br />
Interface<br />
Tactile Feedback<br />
Device<br />
Graphics Software<br />
+ Audio Feedback<br />
Software Model<br />
Grasping Input<br />
Device<br />
3D Tracking Device<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking Device<br />
Software<br />
Interface<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Architecture & Component Selection<br />
Tactile Feedback<br />
Software<br />
Interface<br />
Tactile Feedback<br />
Device<br />
Software Model<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Graphics Software<br />
+ Audio Feedback<br />
Grasping Input<br />
Device<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking<br />
Device:<br />
Logitech “Red<br />
Baron”<br />
• available in<br />
lab<br />
• 50<br />
3D Tracking Device<br />
reports/sec<br />
• small<br />
Software<br />
Interface<br />
tracker<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Architecture & Component Selection<br />
Tactile Feedback<br />
Software<br />
Interface<br />
Tactile Feedback<br />
Device<br />
Software Model<br />
Graphics Software<br />
+ Audio Feedback<br />
Grasping Input<br />
Device:<br />
5DT Glove<br />
• cheap, natural<br />
• 8 bit flexion<br />
• 30<br />
reports/sec<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking Device<br />
3D Tracking Device<br />
Software<br />
Interface<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Architecture & Component Selection<br />
Tactile Feedback<br />
Software<br />
Interface<br />
Graphics Software<br />
+ Audio Feedback<br />
Tactile Feedback<br />
Device:<br />
Custom Built<br />
• no affordable<br />
devices<br />
• miniature DC<br />
motors<br />
• parallel port<br />
Software Model<br />
control<br />
3D Tracking Device<br />
Grasping Input<br />
Device<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking Device<br />
Software<br />
Interface<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Architecture & Component Selection<br />
Software Model<br />
Tactile Feedback<br />
Graphics /Audio<br />
Software<br />
VGA monitor +<br />
Interface<br />
PC speaker<br />
•simple,<br />
available<br />
•good enough<br />
AVRIL<br />
•free VR<br />
library<br />
•drivers<br />
Tactile Feedback<br />
Device<br />
Grasping Input 3D Tracking Device<br />
Device<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking Device<br />
Software<br />
Interface<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Architecture & Component Selection<br />
Tactile Feedback<br />
Software<br />
Interface<br />
Tactile Feedback<br />
Device<br />
Graphics Software<br />
+ Audio Feedback<br />
Software Model:<br />
Custom C++<br />
• Borland C++<br />
• available<br />
• AVRIL<br />
Grasping Input<br />
Device<br />
Grasping Input<br />
Device Software<br />
Interface<br />
3D Tracking Device<br />
3D Tracking Device<br />
Software<br />
Interface<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Software Implementation<br />
• Simplifying assumptions<br />
– two-fingered gripper model<br />
– fixed side viewpoint<br />
– 2D plane motion<br />
• Hardware Interfacing<br />
– encapsulating shipped<br />
routines<br />
– calibrating 5DT Glove<br />
• Graphics<br />
– managed via<br />
AVRIL<br />
• Software<br />
Modeling<br />
– interactions<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile – recording Feedback Virtual dataTestbed<br />
Li-Te Cheng, Memorial University of Newfoundland<br />
– simple physics
System<br />
Initialization &<br />
Calibration<br />
AVRIL Event<br />
Manager<br />
Read Input<br />
Devices<br />
Assess Collisions<br />
Implement<br />
Grasping<br />
Pressures<br />
Record Data<br />
Visual/Audio/Tac<br />
tile Feedback<br />
5DT Glove<br />
C++<br />
Interface<br />
Red Baron<br />
AVRIL<br />
Interface<br />
AVRIL<br />
Graphics<br />
Library<br />
PC Speaker<br />
Interface<br />
Tactile<br />
Feedback<br />
Interface<br />
Software Implementation<br />
Refresh Screen<br />
No<br />
Stop Program?<br />
Yes<br />
System Clean Up<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Performance<br />
• Overall system was implemented and pretested<br />
• Run for an experiment involving 24<br />
subjects<br />
• Initial calibration of 5DT Glove was<br />
important<br />
• More realistic graphics/sound/VR<br />
desirable<br />
• Software ran without incident<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
Completion time<br />
Performance<br />
Average Pressure (%)<br />
Vibrotactile<br />
Feedback:<br />
•better at<br />
beginning<br />
•greater<br />
pressures<br />
•training<br />
•good for<br />
quick grasp<br />
not control<br />
May 26, 1997 -<br />
CCECE ‘97<br />
Design of a Vibrotactile Feedback Virtual Testbed<br />
Li-Te Cheng, Memorial University of Newfoundland
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