Integrating active tangible devices with a synthetic environment for collaborative engineering

This paper describes the creation of an environment for col-laborative engineering in which the goal is to improve the user interface by using haptic manipulation with synthetic environments. We have integrated a multiuser synthetic environment with physical robotic devices to create a work environment. These devices can move under computer control or may be manipulated directly by the user. The work environment represents objects from the application domain such as a building construction environment or manufacturing cell. Collaborating engineers can discuss object interactions, such as crane planning or building placement using this environment. A physical representation of a work environment enables the user to perform direct, tangible manipulations of the devices which are mirrored in the synthetic environment. The direct physical manipulation of robotic devices offers the users a natural and efficient method of interacting with the synthetic environment.