This video provides supplementary material for the paper "HapticGiant: A Novel Very Large Kinesthetic Haptic Interface with Hierarchical Force Control", written by Michael Fennel, Markus Walker, and Uwe D. Hanebeck, which is currently under review for the IEEE Transactions on Haptics.
Abstract:
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited workspaces, insufficient degrees of freedom, and kinematics not matching the human arm. In this paper, we present HapticGiant, a novel large-scale kinesthetic haptic interface designed to match the properties of the human arm as closely as possible and to facilitate natural user locomotion while providing full haptic feedback. The interface incorporates a novel admittance-type force control scheme, leveraging hierarchical optimization to render both arbitrary serial kinematic chains and Cartesian admittances. Notably, the proposed control scheme natively accounts for system limitations, including joint and Cartesian constraints, as well as singularities. Experimental results demonstrate the effectiveness of HapticGiant and its control scheme, paving the way for highly immersive virtual reality applications.
Keywords:
Grounded haptics, kinesthetic devices, encountered-type haptics, force feedback, haptic rendering, human-robot interaction, real-time control, hierarchical optimization, telepresence
Contact:
Michael Fennel,
michael.fennel@kit.edu,
/ michael-fennel
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Credits:
Videography: Jakob Wandel, Alexander Riffel
Editing: Jakob Wandel
Thanks to:
Philipp Blättner, Giulio Broghammer, Lukas Driller, Sascha Faber, Csaba Freiberger, Serge Garbay, Stefan Geyer, Jakob Kessler, Achim Langendörfer, Felix Pfaff, Alexander Riffel, Marcel Stahl, Jakob Wandel, and Antonio Zea
Music:
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