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Carnegie Mellon Robotics Institute

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Abstract

We describe an experimental arrangement for comparison of user performance during a real and a virtual 3-D peg-in-hole task. Tasks are performed using a unique six-degree-of-freedom (6-DOF) magnetic levitation haptic device. The arrangement allows a user to exert and experience real and virtual forces using the same 6-DOF device. During the virtual task, a peg and hole are rendered haptically, and visual feedback is provided through a graphical display. During the real task, a physical peg is attached to the underside of the haptic device. Using only real forces/torques, the peg is inserted into a hole in a plate attached to a force/torque sensor, while positions/orientations are measured by the haptic device. Positions/orientations and forces/torques are recorded for both modes. Preliminary results indicate increased task time, larger total forces and more failures occur with the virtual task. Recorded data reveal user strategies that are similar for both tasks. Quantitative analysis of the strategies employed should lead to identication of signicant factors in haptic interface design and haptic rendering techniques.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Psychophysics of Haptic Interaction

Number of pages: 6

Text Reference

Bertram Unger, Alex Nicolaidis, Peter Berkelman, A. Thompson, Roberta Klatzky, and Ralph Hollis, "Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments," Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), September, 2001, pp. 1751 - 1756.

BibTeX Reference

@inproceedings{Unger_2001_5132,
   author = "Bertram Unger and Alex Nicolaidis and Peter Berkelman and A. Thompson and Roberta Klatzky and Ralph Hollis",
   title = "Comparison of 3D Haptic Peg-In-Hole Tasks in Real and Virtual Environments",
   booktitle = "Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01)",
   pages = "1751 - 1756",
   month = "September",
   year = "2001",
   volume = "3",
}

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