Evaluating the Efficiency of Six-DoF Haptic Rendering-Based Virtual Assembly Training
IEEE Transactions on Haptics 2020
People
- Mianlun Zheng
University of Southern California - Danyong Zhao
University of Southern California - Jernej Barbič
University of Southern California
Project material
Citation
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Mianlun Zheng, Danyong Zhao, Jernej Barbič:
Evaluating the Efficiency of Six-DoF Haptic Rendering-Based Virtual Assembly Training, IEEE Transactions on Haptics, 2021, 14(1), p. 212-224, doi: 10.1109/TOH.2020.3008941.
BIBTEX
Abstract
Haptics plays an important role in training users to assemble mechanical components such as airplane or car parts. Because mechanical components are often geometrically complex, efficient collision detection and 6-DoF haptic rendering of contact are required for virtual assembly, and this has been extensively explored in prior work. However, as our work shows, this alone is not sufficient for efficient virtual assembly training. Our work asks how to augment 6-DoF haptic rendering of contact to maximize virtual assembly training efficiency, and proposes and measures several visual and haptic guidance strategies. Our visual strategies consist of displaying animations of the correct assembly path, motion indicator cues, and close-ups on difficult assembly path sections. Our haptic guidance consists of forces and torques that correct the trainee's deviation from the path. We investigate several haptic guidance strategies, including continuous forces and torques, force/torque nudging and anti-forces/torques. We designed a user study to evaluate the training efficiency of our proposed strategies quantitatively, using ANOVA and Tukey statistics. Our main finding is that the most efficient training approach is to use haptic rendering of contact in combination with visual animation-based guidance. Continuous forces, nudging, anti-forces and motion indicator cues were measured to be less effective.
Comments, questions to Jernej Barbič.Related projects
- 6-DoF Haptic Rendering of Static Coulomb Friction Using Linear Programming
- 6-DoF Haptic Rendering using Continuous Collision Detection Between Points and Signed Distance Fields
- Adaptive 6-DoF Haptic Contact Stiffness Using the Gauss Map
Funding
- NSF (IIS-1422869, IIS-1911224)
- USC Annerberg Graduate Fellowships to Mianlun Zheng and Danyong Zhao
- Bosch Research
- Adobe Research
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