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IEEE Virtual Reality Conference 2001 (VR 2001)
Path Planning for Encountered-type Haptic Devices that Render Multiple Objects in 3D Space
Yokohama, Japan
March 13-March 17
ISBN: 0-7695-0948-7
Yasuyoshi Yokokohji, Kyoto University
Tsuneo Yoshikawa, Kyoto University
Junji Kinoshita, Hitachi, Ltd.
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 (user's hand) and a convex polyhedron constructed from the reference points of multiple objects. A virtual control panel of automobiles was constructed using an encountered-type haptic device where the proposed path-planning algorithm was implemented. The validity of the proposed algorithm was confirmed and the required performances such as device speed and accuracy of hand tracking were evaluated.
Citation:
Yasuyoshi Yokokohji, Tsuneo Yoshikawa, Junji Kinoshita, "Path Planning for Encountered-type Haptic Devices that Render Multiple Objects in 3D Space," vr, pp.271, IEEE Virtual Reality Conference 2001 (VR 2001), 2001
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