Wireless haptic rendering for mobile platforms

Computer haptics has so far been performed on a personal computer (PC). Off the shelf haptic devices provide only PC interfaces and software drivers for control and communication. The new wave of high capable tablet PCs and high end smart phones introduced new platforms for haptic applications. The major problem was to communicate wirelessly to provide user convenience and support mobility which is an essential feature for these platforms. In this paper we provide a wireless layered communication protocol and a hardware setup that enables off the shelf haptic devices to communicate wirelessly with a mobile device. The layers in the protocol enable the change of any hardware components without affecting the data flow. However, the adoption of the wireless interface instead of the wired one comes with the price of speed. Haptic refresh loops require a relatively high refresh rate of 1000 Hz compared to graphics loop which require between 30 and 60 only. An interpolation algorithm was demonstrated to compensate the latency and secure a stable user experience. The introduced setup was tested against portable environments and the users could perform similar functionalities to what are available on a wired setup to a PC.

[1]  Grigore C. Burdea,et al.  Force and Touch Feedback for Virtual Reality , 1996 .

[2]  Steven J. Vaughan-Nichols,et al.  Gigabit Wi-Fi Is on Its Way , 2010, Computer.

[3]  Abdulmotaleb El-Saddik,et al.  Haptic Virtual Rehabilitation Exercises for Poststroke Diagnosis , 2008, IEEE Transactions on Instrumentation and Measurement.

[4]  E. Candès.  The restricted isometry property and its implications for compressed sensing , 2008 .

[5]  Haruhiko Kawasaki,et al.  Multi-Fingered Haptic Interface Robot and its Application Systems , 2008 .

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

[7]  Karon E. MacLean,et al.  Handheld haptics: a USB media controller with force sensing , 2002, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002.

[8]  B. J. Fogg,et al.  HandJive: a device for interpersonal haptic entertainment , 1998, CHI.

[9]  Ahmed Amine Jerraya,et al.  Hardware/software interface codesign for embedded systems , 2005, Computer.

[10]  D. Donoho,et al.  Sparse MRI: The application of compressed sensing for rapid MR imaging , 2007, Magnetic resonance in medicine.

[11]  Costas S. Tzafestas,et al.  Adaptive impedance control in haptic teleoperation to improve transparency under time-delay , 2008, 2008 IEEE International Conference on Robotics and Automation.

[12]  Yang Xiao,et al.  IEEE 802.11n: enhancements for higher throughput in wireless LANs , 2005, IEEE Wirel. Commun..

[13]  Vincent Hayward,et al.  Haptic interfaces and devices , 2004 .

[14]  Domenico Prattichizzo,et al.  An Experimental Study of the Limitations of Mobile Haptic Interfaces , 2004, ISER.

[15]  Saeid Nahavandi,et al.  Data-based dynamic haptic interaction model with deformable 3D objects , 2010, 2010 8th IEEE International Conference on Industrial Informatics.

[16]  R.H.J. Bloks.  The IEEE-1394 high speed serial bus , 1996 .

[17]  Thierry Turletti,et al.  A survey of QoS enhancements for IEEE 802.11 wireless LAN , 2004, Wirel. Commun. Mob. Comput..

[18]  David L Donoho,et al.  Compressed sensing , 2006, IEEE Transactions on Information Theory.

[19]  John Kenneth Salisbury,et al.  Haptic Feedback Enhances Force Skill Learning , 2007, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07).

[20]  Nigel W. John,et al.  The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art , 2011, IEEE Transactions on Haptics.

[21]  Saeid Nahavandi,et al.  Emerging technology for remote IED render safe using the OzBot , 2010 .

[22]  Bernhard Walke,et al.  IEEE 802.11 Wireless Local Area Networks , 2006 .

[23]  野間 春生,et al.  Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 参加報告 , 1997 .

[24]  Vladimir Kulyukin.  Robot-Assisted Shopping for the Blind : Haptic and Locomotor Spaces in Supermarkets , 2006 .