Improving user comfort in haptic virtual environments through gravity compensation

doi:10.1109/WHC.2005.78

Paper

Improving user comfort in haptic virtual environments through gravity compensation

Published Mar 18, 2005 · Renaud Ott, M. Gutiérrez, D. Thalmann

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference

UNKNOWN SJR score

33

Citations

1

Influential Citations

Full textSemantic Scholar

Abstract

Our experience with a Haptic Workstation/spl trade/ has shown that this device is uncomfortable to use during long sessions. The main reason is the uncomfortable posture of the arms, which must be kept outstretched horizontally while supporting the weight of an exoskeleton. We describe Zero-G, a real-time weight compensation system aimed at improving user comfort by compensating for the weight of both the exoskeleton and arms (zero gravity illusion). We present experimental results complemented with electro myography measures (EMG) as an indicator of muscular activity/fatigue. Our tests show how Zero-G exerts a positive influence on the reduction of muscular fatigue when using a Haptic Workstation/spl trade/.

Study Snapshot

Zero-G improves user comfort and reduces muscular fatigue when using a Haptic Workstation by compensating for the weight of both the exoskeleton and arms.

PopulationOlder adults (50-71 years)

Sample size24

MethodsObservational

OutcomesBody Mass Index projections

ResultsSocial networks mitigate obesity in older groups.

Sign up to use Study Snapshot

Consensus is limited without an account. Create an account or sign in to get more searches and use the Study Snapshot.

Create an account

Paper

Improving user comfort in haptic virtual environments through gravity compensation

Sign up to use Study Snapshot

References

Telerehabilitation: controlling haptic virtual environments through handheld interfaces

Telerehabilitation for arm motion coordination disorders using haptic feedback and a handheld device allows for real-time monitoring, adaptation, and exercise design.

Experiences on haptic interfaces for visually impaired young children

Haptic and auditory features can create usable computing environments for visually impaired young children when carefully designed and used in multimodal applications.

Mediators: virtual haptic interfaces for tele-operated robots

Virtual haptic interfaces can effectively replace physical operator interfaces for teleoperation of robots, offering new multimodal feedback possibilities.

EMG-Based Motion Discrimination Using a Novel Recurrent Neural Network

The novel recurrent neural network using the hidden Markov model effectively discriminates forearm motions using electromyogram signals, achieving high performance compared to other methods.

The Development of a Virtual Myoelectric Prosthesis Controlled by an EMG Pattern Recognition System Based on Neural Networks

This study developed a virtual myoelectric prosthesis controlled by an EMG pattern recognition system based on neural networks, reducing training duration and improving patient comfort.

Citations

Subtask-Based Usability Evaluation of Control Interfaces for Teleoperated Excavation Tasks

Position-3D is the most effective control interface for sagittal excavation, while both Rate-lever and Rate-3D are effective for turning, offering a hybrid-type interface for optimal performance in teleoperation of construction robots.

Advancements in Upper Body Exoskeleton: Implementing Active Gravity Compensation with a Feedforward Controller

Feedforward control systems for upper body exoskeletons reduce hardware complexity and weight, while maintaining stable performance and minimizing friction.

Improving the Force Display of Haptic Device Based on Gravity Compensation for Surgical Robotics

The proposed approach combining active and passive gravity compensation improves force display performance in haptic devices for surgical robotics, enhancing peak capability by 45.43% and reducing maximum deviation to 0.6 N.

An active and passive combined gravity compensation approach for a hybrid force feedback device

The proposed combined gravity compensation approach for a 6-DOF hybrid force feedback device effectively achieves gravity compensation and improves output force capability.

Machine Learning for Active Gravity Compensation in Robotics: Application to Neurological Rehabilitation Systems

Machine learning can improve active gravity compensation in robotic rehabilitation systems, enhancing human-machine interaction and enhancing rehabilitation outcomes.

Gaze-based Kinaesthetic Interaction for Virtual Reality

The gaze-based kinaesthetic interface improves user experience and efficiency in virtual reality without increasing eye strain, enabling infinite interaction space without increasing eye strain.

Gaze Augmented Hand-Based Kinesthetic Interaction: What You See is What You Feel

HandGazeTouch and GazeTouch techniques, which combine eye gaze and hand motion, are as accurate, natural, and pleasant as traditional hand-based kinesthetic interfaces, but more efficient.

Design of a smart haptic system for repulsive force control under irregular manipulation environment

The smart haptic framework accurately reflects the desired repulsive force to the operator, regardless of their movement, using a dummy governing equation technique and PID controller.

Dynamically evaluated gravity compensation for the RAVEN surgical robot

The RAVENTM surgical research robot can maintain a known pose regardless of base orientation, enabling accurate control in non-stationary environments.