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Path planning for encountered-type haptic devices that render multiple objects in 3D space

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3 Author(s)
Yokokohji, Y. ; Dept. of Mech. Eng., Kyoto Univ., Japan ; Kinoshita, J. ; Yoshikawa, T.

A path-planning algorithm for encountered-type haptic devices that render multiple virtual objects in 3D space is proposed. To render multiple virtual objects with a single haptic device, the following two behaviors must be realized: (i) the device should move to the target object location in advance of the user's hand so that the user can encounter it; (ii) otherwise, the device should keep away from the user's hand, avoiding an unexpected collision. To realize such a consistent encounter, the user's hand motion must be tracked. The proposed algorithm determines the device location based on the minimum distance problem between a point (the user's hand) and a convex polyhedron constructed from the reference points of multiple objects. An automobile virtual control panel was constructed using an encountered-type haptic device in which the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances, such as the device speed and the accuracy of hand tracking were evaluated.

Published in:

Virtual Reality, 2001. Proceedings. IEEE

Date of Conference:

17-17 March 2001