Abstract
We describe a prototype mobile force-only feedback system called ‘Limbot’ constructed by placing a six degree-of-freedom force feedback system onto a two degree-of-freedom motorised platform. Existing mobile force-feedback platforms are typically designed to expand the virtual haptic workspace and support exploration of large haptic objects in the style of traditional Virtual Reality (VR) interfaces. Systems which focus on the VR paradigm typically preclude navigation of real environments because attention is primarily directed at the graphical display. In contrast, our device is unconstrained and designed for force-only explorations of real wide-area environments, for example as part of a location-based pervasive game. In order to achieve such wide-area exploration and navigation, our platform allows the user to couple and decouple the force feedback encoders to control the platform’s wheels. The device’s encoders switch between ’traditional’ virtual exploration of a haptic object and as a real navigation controller for the base platform motors. Initial testing of our prototype highlights (i) that our positioning and mobility approaches require that we consider haptic perspective more closely; (ii) that the necessary speed and control of repositioning requires easily backdrivable base motors; and (iii) that our mobile force feedback experience is an unavoidably social experience in the real world, inspiring quick movements between haptic and robotic modes of operation.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Fu, X., Li, D.: Haptic Shoes: Representing Information by Vibration. In: Proc. APVIS 2005, pp. 47–50 (2005)
Dorjgotov, E., Choi, S., Dunlop, S.R., Bertoline, G.R.: Portable Haptic Display for Large Immersive Virtual Environments. In: Proc. 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 321–327 (2006)
Luk, J., Pasquero, J., Little, S., MacLean, K.E., Lévesque, V., Hayward, V.: A role for haptics in mobile interaction: initial design using a handheld tactile display prototype. In: Proc. CHI 2006, pp. 171–180. ACM Press, New York (2006)
Pasqui, V., Hugel, V., Blazevic, P.: Description and performance analysis of a mobile force feedback stick-shaped handle. In: Proc. International Conference on Intelligent Robots and Systems, pp. 1272–1277. IEEE/RSJ (1998)
Formaglio, A., de Pascale, M., Prattichizzo, D.: A mobile platform for haptic grasping in large environments. Virtual Reality 10(1), 11–23 (2006)
Choi, S., Lee, C., Hong, M.S., Lee, I., Choi, O.K., Han, K.L., Lee, J.S.: A Mobile Haptic Interface for Large Immersive Virtual Environments, PoMHI v0.5. In: Proc. 4th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2007) (2007)
Nitzsche, N., Hanebeck, U.D., Schmidt, G.: Design issues of mobile haptic interfaces. Journal of Robotic Systems 20(9), 549–556 (2003)
Benford, S., Magerkurth, C., Ljungstrand, P.: Bridging the physical and digital in pervasive gaming. Communications of the ACM 48(3), 54–57 (2005)
McCarthy, M.R., Muller, H.L.: RF Free Ultrasonic Positioning. In: Proc. ISWC 2003, pp. 79–87. ACM Press, New York (2003)
Schnädelbach, H., Koleva, B., Twidale, M., Benford, S.: The Iterative Design Process of a Location-Aware Device for Group Use. In: Proc. Ubicomp 2004, pp. 329–346 (2004)
Fraser, M., Cater, K., Duff, P.: Using Actuated Devices in Location-Aware Systems. In: Proc. Tangible and Embedded Interaction (TEI 2008), Bonn, Germany, February 2008, pp. 19–26. ACM Press, New York (2008)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Fraser, M., Duff, P., Pearson, W. (2008). Grounding Mobile Force Feedback in the Real World. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_65
Download citation
DOI: https://doi.org/10.1007/978-3-540-69057-3_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
eBook Packages: Computer ScienceComputer Science (R0)