Skip to main content
SpringerLink
Log in

On study of design and implementation of virtual fixtures

  • Original Article
  • Published:
Virtual Reality Aims and scope Submit manuscript

Abstract

Virtual fixtures (VFs) can be defined as guiding constraints designed to enhance or assist human performance in a computer-controlled system by providing cues of haptic or audiovisual nature. In this paper we present a new characterization of VFs based on mechanics, and provide a set practical guidelines for the designers of such fixtures from a software architecture point of view. We propose an event-driven approach that facilitates the integration of these guiding constraints in a scene graphed-based environment. In this context some novel implementation of VFs are presented, where users may interact with a single or an assembled set of fixtures. We present two types of force attributes for VF and present their implications in a trajectory-following problem.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15

Similar content being viewed by others

References

  • Abbot JJ, Okamura AM (2003) Analysis of virtual fixture contact stability for telemanipulation. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, pp 2699–2706

  • Bettini A, Lang S, Okamura AW, Hager G (2001) Vision assisted control for manipulation using virtual fixtures. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, pp 1171–1176

  • Chan M, Dill J, Payandeh S (2004) Observations of visual and audio coaching methods in a virtual laparoscopic training environment. In: Proceedings of the 1st symposium on applied perception in graphics and visualization, p 173

  • Galeano D, Payandeh S (2005) Artificial and natural force constraints in haptic-aided path planning. In: IEEE international workshop on haptic audio visual environments and their applications, pp 45–50

  • Gillespie B, O’Modhrain S, Tang P, Pham C, Zaretsky D (1998) The virtual teacher. In: Proceedings of the ASME IMECE, DSC, vol 64, pp 171–178

  • Kuang AB, Payandeh S, Zheng B, Henigman F, Mackenzie CL (2004) Assembling virtual fixtures for guidance in training environments. In: Proceedings of the 12th international symposium on haptic interfaces for virtual environment and teleoperator systems, pp 367–374

  • Marayong P, Bettini A, Okamura AW (2002) Effect of virtual fixture compliance on human-machine cooperative manipulation. In: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, pp 1089–1095

  • Nolin JT, Stemniski PM, Okamura AW (2003) Activation cues and force scaling methods for virtual fixtures. In: Proceedings of the 11th international symposium on haptic interfaces for virtual environment and teleoperator systems, pp 404–409

  • Park S, Howe R, Torchiana D (2001) Virtual fixtures for robotic cardiac surgery. In: Proceedings of the 4th international conference on medical image computing and computer-assisted intervention, pp 1419–1420

  • Payandeh S (2001) Application of shared control strategy in the design of a robotic device. In: Proceedings of american control conference, pp 4532–4536

  • Payandeh S, Stanisic Z (2002) On application of virtual fixtures as an aid for telemanipulation and training. In: Proceedings of the 10th symposium on haptic interfaces for virtual environment and teleoperator systems. Orlando, FL, pp 18–23

  • Payandeh S, Dill J, Wilson G, Zhang H, Shi L, Lomax A, Mackenzie CL (2003) Demo: a multi-modal training environment for surgeons. In: Proceedings of the 5th international conference on multimodal interfaces, pp 301–302. http://web.ensc.sfu.ca/research/erl/ViTEn/

  • Prada R, Payandeh S (2005) A study on design and analysis of virtual fixtures for cutting in training environment. In: Proceedings of the 1st joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems, pp 375–380

  • Rosenberg L (1993) Virtual fixtures: perceptual tools for telerobotic manipulation. In" Proceedings of IEEE virtual reality international symposium, pp 76–82

  • Sayers CP, Paul RP (1994) An operator interface for teleprogramming employing synthetic fixtures presence, vol 3, pp 4–309

  • Schroeder WJ, Martin KM, Lorensen WE (1996) The design and implementation of an object-oriented toolkit for 3d graphics and visualization. In: Proceedings of the 7th conference on visualization. San Francisco, USA, 93-ff

  • Strauss PS, Carey R (1992) An object-oriented 3d graphics toolkit. In: Proceedings of the 19th annual conference on computer graphics and interactive techniques, pp 341–349

  • VRML Consortium (1997) The virtual reality modeling language specification ISO/IEC DIS 14772-1

  • Zhang H, Payandeh S, Dill J (2004) On cutting and dissection of virtual deformable objects. In: Proceedings of the IEEE international conference on robotics and automation, pp 3908–3913

Download references

Author information

Authors and Affiliations

  1. Experimental Robotics and Graphics Laboratory, Simon Fraser University, Burnaby, BC, Canada

    Rodolfo Prada & Shahram Payandeh

Authors
  1. Rodolfo Prada
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shahram Payandeh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Shahram Payandeh.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Prada, R., Payandeh, S. On study of design and implementation of virtual fixtures. Virtual Reality 13, 117–129 (2009). https://doi.org/10.1007/s10055-009-0115-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10055-009-0115-4

Keywords

Search

Navigation