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WOLVERINE can't beat this! Handheld Haptic Feedback for Grasping in Virtual Reality

June 4, 2019 - 3:00pm to 5:00pm
Durand 450

Inrak Choi - PhD Thesis Defense

Title: Handheld Haptic Feedback for Grasping in Virtual

Reality Advisor: Sean Follmer

Date: Tuesday, June 4th, 2019

Time: 3:00 pm (refreshments at 2:45pm)

Location: Durand Building, room 450

Abstract:To develop a haptic user interface for Virtual Reality, wearability and mobility are extremely important aspects. Traditional kinesthetic haptic interfaces are fixed externally in a room and have a limited workspace. Handheld or wearable haptic interfaces can address this fundamental challenge of limited workspace. However, achieving rich haptic sensations with ungrounded haptic devices is especially challenging due to the following two reasons. First, the selection of an actuator is limited to lightweight but low power actuators due to the constraints of the mobile form factor. Second, it is hard to create kinesthetic force feedback external from a human body because the devices are grounded to the user's body, not to the environment. This thesis proposes two strategies solving these challenges. First, novel force feedback mechanisms using clutches and brakes are required to make ungrounded haptic devices lightweight, compact, safe, power-efficient, and low cost. Second, it is desirable to investigate simulating kinesthetic haptic sensations through vibrotactile feedback because vibration can be easily implemented with small and light voice coil actuators. In this thesis, I propose five force feedback methods based on these two strategies: The first half of this thesis introduces novel force feedback mechanisms making handheld or wearable haptic devices compact, safe, power-efficient, and low cost.

The second half of the thesis explores vibrotactile effects on human perception to improve haptic feedback of handheld or wearable haptic devices.

This event is Free and open to the public.

For more info please visit Sean Follmer's Shape Lab site: http://shape.stanford.edu/

Event Sponsor: 
Design Group, Mechanical Engineering
Contact Email: 
irchoi@stanford.edu
Contact Phone: 
650-723-4615