Incorporating weight haptic feedback into a bimanual virtual environment

Abstract

Recent developments in computer graphics and haptics technologies have allowed users to experience and interact with virtual environments in new and more immersive ways. As such, it is important to design haptic algorithms that can display the sensations felt by the user in the virtual world that is both realistic and stable. This thesis shall present a haptic rendering method for rendering weight feedback from a held object. The method expands on current constraint-based haptic rendering algorithms to not only render weight in a physically realistic manner, but also allowing it to be implemented in a bimanual setting, with the force moving between the two devices during the interaction. A simple virtual environment is then implemented in which the user is able to pick up and manipulate objects in the environment using a simple on-contact grasping mechanic. The object can be passed between hands, smoothly transferring the weight to maintain stability and realism. A simple speed-training task to manipulate coloured objects onto correspondingly coloured plates was also implemented within the environment to help direct the interaction. Pilot studies were also run to evaluate the usability and realism of the method and examine how to further improve weight rendering algorithms and heuristics for stable and realistic user interaction.