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Thor's Hammer: An Ungrounded Force Feedback Device Utilizing Propeller-Induced Propulsive Force

Published: 21 April 2018 Publication History

Abstract

We present a new handheld haptic device, Thor's Hammer, which uses propeller propulsion to generate ungrounded, 3-DOF force feedback. Thor's Hammer has six motors and propellers that generates strong thrusts of air without the need for physical grounding or heavy air compressors. With its location and orientation tracked by an optimal tracking system, the system can exert forces in arbitrary directions regardless of the device's orientation. Our technical evaluation shows that Thor's Hammer can apply up to 4 N of force in arbitrary directions with less than 0.11 N and 3.9° of average magnitude and orientation errors. We also present virtual reality applications that can benefit from the force feedback provided by Thor's Hammer. Using these applications, we conducted a preliminary user study and participants felt the experience more realistic and immersive with the force feedback.

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    cover image ACM Conferences
    CHI '18: Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems
    April 2018
    8489 pages
    ISBN:9781450356206
    DOI:10.1145/3173574
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    Published: 21 April 2018

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    Author Tags

    1. haptic feedback
    2. propeller-based feedback.
    3. ungrounded force feedback
    4. virtual reality

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    • (2024)HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic FeedbackSensors10.3390/s2403093524:3(935)Online publication date: 31-Jan-2024
    • (2024)A Non-contact Translational and Rotational Force Feedback Device using Rotational Jet Propellers2024 SICE International Symposium on Control Systems (SICE ISCS)10.23919/SICEISCS60954.2024.10505747(113-119)Online publication date: 18-Mar-2024
    • (2024)JetUnit: Rendering Diverse Force Feedback in Virtual Reality Using Water JetsProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676440(1-15)Online publication date: 13-Oct-2024
    • (2024)SpinShot: Optimizing Both Physical and Perceived Force Feedback of Flywheel-Based, Directional Impact Handheld DevicesProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676433(1-15)Online publication date: 13-Oct-2024
    • (2024)TorqueCapsules: Fully-Encapsulated Flywheel Actuation Modules for Designing and Prototyping Movement-Based and Kinesthetic InteractionProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676364(1-15)Online publication date: 13-Oct-2024
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