Enabling Interaction with Virtual Fluids and Mixed Media using a High Dexterity Hand Exoskeleton

Annika Schmidt, Aaron Pereira, Thomas Baker, Benedikt Pleintinger, Thomas Hulin, Zhaopeng Chen, David A. Abbink, Neal Y. Lii

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

Advances in exoskeleton technology now enable interacting with rigid objects in a virtual or remote environment using one's hand and fingertips. However, interaction with non-solid materials - such as liquids, sediments and regolith - alongside solids, can greatly extend the versatility of this technology. Rendering rigid objects adequately requires a control loop with high update rates, whereas fluid dynamics equations are computationally expensive. To accommodate this, the fluid dynamics can be simplified - particularly for fluids with high viscosity - resulting in a fast-to-calculate model to enabling haptic rendering of viscous fluids and rigid bodies simultaneously using DLR's Exodex Adam hand exoskeleton. Viscosity as a proprioceptive cue of fluids can be presented to the human through force feedback at multiple points on the human hand - fingers and palm - letting the user interact with a virtual environment in a more natural way and making the experience more immersive. We carry out two user studies to investigate the human perception abilities of virtual fluids rendered with simplified dynamics, and the discernability of different viscosity in virtual fluids compared real fluids. Results show that virtual media can give the user the perception of interacting with a fluid, even with simplified models, at a high update frequency. Furthermore, the material discernibility corresponds well to actual interaction with real viscous fluids. This shows great promise forward for haptic in-hand interaction in fluid and mixed media environments.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages2925-2932
ISBN (Electronic)978-1-7281-8526-2
DOIs
Publication statusPublished - 2020
Event2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
Duration: 11 Oct 202014 Oct 2020

Conference

Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
CountryCanada
CityToronto
Period11/10/2014/10/20

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