Interactive Dynamic Simulations with Co-Located Maglev Haptic and 3D Graphic Display

We have developed an system which combines realtime dynamic simulations, 3D display, and magnetic levitation to provide high-fidelity co-located haptic and graphic interaction. Haptic interaction is generated by a horizontal array of cylindrical coils which act in combination to produce arbitrary forces and torques in any direction on magnets fixed to an instrument handle held by the user, according to the position and orientation sensed by a motion tracking sensor and the dynamics of a realtime physical simulation. Co-located graphics are provided by a thin flat screen placed directly above the coil array so that the 3D display of virtual objects shares the same volume as the motion range of the handheld instrument. Shuttered glasses and a head tracking system are used to preserve the alignment of the displayed environment and the interaction handle according to the user’s head position. Interactive demonstration environments include rigid bodies with solid contacts, suspended mass-spring-damper assemblies, and deformable surfaces. Keywords-haptics, interaction, simulation

[1]  Mir Behrad Khamesee,et al.  Regulation technique for a large gap magnetic field for 3D non-contact manipulation , 2005 .

[2]  S. E. Salcudean,et al.  On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Devic , 1997 .

[3]  P. Berkelman,et al.  Magnetic Levitation Over Large Translation and Rotation Ranges in All Directions , 2013, IEEE/ASME Transactions on Mechatronics.

[4]  Gunnar Jansson,et al.  The effects of co-location of visual and haptic space on judgements of form. , 2004 .

[5]  Ralph L. Hollis,et al.  Interacting with virtual environments using a magnetic levitation haptic interface , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[6]  S. Salcudean,et al.  Lorentz Levitation Technology : a New Approach to Fine Motion Robotics , Teleoperation , Haptic Interfaces , and Vibration Isolation , 1993 .

[7]  David Swapp,et al.  Interaction with haptic feedback and co-location in virtual reality , 2005 .

[8]  Takeo Kanade,et al.  WYSIWYF Display: A Visual/Haptic Interface to Virtual Environment , 1999, Presence.

[9]  Peter J. Berkelman,et al.  Co-located 3D graphic and haptic display using electromagnetic levitation , 2012, 2012 IEEE Haptics Symposium (HAPTICS).

[10]  David Baraff,et al.  Interactive simulation of solid rigid bodies , 1995, IEEE Computer Graphics and Applications.

[11]  Stephane Cotin,et al.  Towards a Framework for Assessing Deformable Models in Medical Simulation , 2008, ISBMS.

[12]  Nelson J. Groom,et al.  A description of a laboratory model magnetic suspension test fixture with large angular capability , 1992, [Proceedings 1992] The First IEEE Conference on Control Applications.

[13]  P. Berkelman,et al.  Novel Design, Characterization, and Control Method for Large Motion Range Magnetic Levitation , 2010, IEEE Magnetics Letters.

[14]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[15]  Jernej Barbic,et al.  Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models , 2008, IEEE Transactions on Haptics.

[16]  Peter J. Berkelman,et al.  Extending the motion ranges of magnetic levitation for haptic interaction , 2009, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[17]  Stephane Cotin,et al.  EP4A: Software and Computer Based Simulator Research: Development and Outlook SOFA—An Open Source Framework for Medical Simulation , 2007, MMVR.

[18]  Stefan Seipel,et al.  Physically co-located haptic interaction with 3D displays , 2012, 2012 IEEE Haptics Symposium (HAPTICS).