Abstract
Bimanual haptics is a specific kind of multi-finger interaction that focuses on the use of both hands simultaneously. Several haptic devices enable bimanual haptic interaction, but they are subject to a certain number of limitations for interacting with virtual environments (VEs), such as workspace size issues or manipulation difficulties, notably with single-point interfaces. Interaction techniques exist to overcome these limitations and allow users to perform specific two-handed tasks, such as the bimanual exploration of large VEs and grasping of virtual objects. This chapter presents an overview of the current limitations in bimanual haptics and the interaction techniques developed to overcome these. Novel techniques based on the Bubble technique are more specifically presented, with a user evaluation that assesses their efficiency. These include bimanual workspace extension techniques as well as techniques to improve the grasping of virtual objects with dual single-point interfaces.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Guiard, Y. (1987). Asymmetric division of labor in human skilled bimanual action: the kinematic chain as a model. Journal of Motor Behavior, 19(4), 486–517.
Waldron, K., & Tollon, K. (2003). Mechanical characterization of the immersion corp. haptic, bimanual, surgical simulator interface. In B. Siciliano & P. Dario (Eds.), Springer tracts in advanced robotics: Vol. 5. Experimental robotics VIII (pp. 106–112). Berlin: Springer.
Loi-Wah, S., Van Meer, F., Bailly, Y., & Yeung, C. K. (2007). Design and development of a da Vinci surgical system simulator. In Proc. of international conference on mechatronics and automation (pp. 1050–1055).
Li, S., Frisoli, A., Avizzano, C. A., Ruffaldi, E., Lugo-Villeda, L. I., & Bergamasco, M. (2009). Bimanual haptic-desktop platform for upper-limb post-stroke rehabilitation: practical trials. In Proc. of IEEE international conference on robotics and biomimetics (pp. 480–485).
Hulin, T., Sagardia, M., Artigas, J., Schaetzle, S., Kremer, P., & Preusche, C. (2008). Human-scale bimanual haptic interface. In Proc. of 5th international conference on enactive interfaces (pp. 28–33).
Faeth, A., Oren, M., Sheller, J., Godinez, S., & Harding, C. (2008). Cutting, deforming and painting of 3d meshes in a two handed viso-haptic vr system. In Proc. of IEEE virtual reality (pp. 213–216).
Dominjon, L., Lécuyer, A., Burkhardt, J.-M., Andrade-Barroso, G., & Richir, S. (2005). The “bubble” technique: interacting with large virtual environments using haptic devices with limited workspace. In Proc. of the first joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems, WHC’05 (pp. 639–640). Los Alamitos: IEEE Computer Society.
Ott, R., De Perrot, V., Thalmann, D., & Vexo, F. (2007). Mhaptic: a haptic manipulation library for generic virtual environments. In Proc. of international conference on cyberworlds, CW’07 (pp. 338–345). Los Alamitos: IEEE Computer Society.
Talvas, A., Marchal, M., Nicolas, C., Cirio, G., Emily, M., & Lécuyer, A. (2012). Novel interactive techniques for bimanual manipulation of 3d objects with two 3dof haptic interfaces. In Proc. of EuroHaptics (1) (pp. 552–563).
Dominjon, L., Perret, J., & Lécuyer, A. (2007). Novel devices and interaction techniques for human-scale haptics. The Visual Computer, 23(4), 257–266.
de Pascale, M., Formaglio, A., & Prattichizzo, D. (2006). A mobile platform for haptic grasping in large environments. Virtual Reality, 10, 11–23.
Peer, A., & Buss, M. (2008). A new admittance-type haptic interface for bimanual manipulations. IEEE/ASME Transactions on Mechatronics, 13(4), 416–428.
Formaglio, A., Prattichizzo, D., Barbagli, F., & Giannitrapani, A. (2008). Dynamic performance of mobile haptic interfaces. IEEE Transactions on Robotics, 24(3), 559–575.
Peer, A., Unterhinninghofen, U., & Buss, M. (2006). Tele-assembly in wide remote environments. In Proc. of 2nd international workshop on human-centered robotic systems.
Murayama, J., Bougrila, L., Luo, Y., Akahane, K., Hasegawa, S., Hirsbrunner, B., & Sato, M. (2004). Spidar g&g: a two-handed haptic interface for bimanual vr interaction. In Proc. of EuroHaptics (pp. 138–146).
Garcia-Robledo, P., Ortego, J., Barrio, J., Galiana, I., Ferre, M., & Aracil, R. (2009). Multifinger haptic interface for bimanual manipulation of virtual objects. In Proc. of IEEE international workshop on haptic audio-visual environments and games (pp. 30–35).
Walairacht, S., Koike, Y., & Sato, M. (2000). String-based haptic interface device for multi-fingers. In Proc. of IEEE virtual reality.
Endo, T., Yoshikawa, T., & Kawasaki, H. (2010). Collision avoidance control for a multi-fingered bimanual haptic interface. In Proc. of international conference on haptics—generating and perceiving tangible sensations: part II, EuroHaptics’10 (pp. 251–256). Berlin: Springer.
Barbagli, F., Salisbury, K., & Devengenzo, R. (2003). Enabling multi-finger, multi-hand virtualized grasping. In Proc. of IEEE international conference on robotics and automation (Vol. 1, pp. 809–815).
Barbagli, F., Frisoli, A., Salisbury, K., & Bergamasco, M. (2004). Simulating human fingers: a soft finger proxy model and algorithm. In Proc. of 12th international symposium on haptic interfaces for virtual environment and teleoperator systems (pp. 9–17).
Novint. www.novint.com/index.php.
Sensable Technologies. http://www.sensable.com/.
Conti, F., Barbagli, F., Balaniuk, R., Halg, M., Lu, C., Morris, D., Sentis, L., Warren, J., Khatib, O., & Salisbury, K. (2003). The CHAI libraries. In Proc. of eurohaptics (pp. 496–500).
SenseGraphics. http://www.h3dapi.org/.
de Pascale, M., & Prattichizzo, D. (2007). The haptik library: a component based architecture for uniform access to haptic devices. IEEE Robotics & Automation Magazine, 14(4), 64–74.
Fischer, A., & Vance, J. M. (2003). Phantom haptic device implemented in a projection screen virtual environment. In Proc. of workshop on virtual environments, EGVE’03 (pp. 225–229). New York: ACM.
Isshiki, M., Sezaki, T., Akahane, K., Hashimoto, N., & Sato, M. (2008). A proposal of a clutch mechanism for 6dof haptic devices. In Proc. of 18th international conference on artificial reality and telexistence (pp. 57–63).
Zhai, S. (1998). User performance in relation to 3d input device design. SIGGRAPH Computer Graphics, 32(4), 50–54.
Ullrich, S., Rausch, D., & Kuhlen, T. (2011). Bimanual haptic simulator for medical training: system architecture and performance measurement. In Joint virtual reality conference of EuroVR—EGVE.
Cutler, L. D., Fröhlich, B., & Hanrahan, P. (1997). Two-handed direct manipulation on the responsive workbench. In Proc. of symposium on interactive 3D graphics, I3D’97 (pp. 107–114). New York: ACM.
García-Robledo, P., Ortego, J., Ferre, M., Barrio, J., & Sánchez-Urán, M. A. (2011). Segmentation of bimanual virtual object manipulation tasks using multifinger haptic interfaces. IEEE Transactions on Instrumentation and Measurement, 60(1), 69–80.
Borst, C. W., & Indugula, A. P. (2006). A spring model for whole-hand virtual grasping. Presence: Teleoperators & Virtual Environments, 15(1), 47–61.
Pouliquen, M., Duriez, C., Andriot, C., Bernard, A., Chodorge, L., & Gosselin, F. (2005). Real-time finite element finger pinch grasp simulation. In Proc. of the first joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems (pp. 323–328).
Jacobs, J., & Froehlich, B. (2011). A soft hand model for physically-based manipulation of virtual objects. In Proc. of IEEE VR (pp. 11–18).
Garre, C., Hernandez, F., Gracia, A., & Otaduy, M. A. (2011). Interactive simulation of a deformable hand for haptic rendering. In Proc. of IEEE world haptics conference (pp. 239–244).
Jacobs, J., Stengel, M., & Froehlich, B. (2012). A generalized god-object method for plausible finger-based interactions in virtual environments. In Proc. of IEEE symposium on 3D user interfaces (pp. 43–51).
Colgate, J. E., Stanley, M. C., & Brown, J. M. (1995). Issues in the haptic display of tool use. In Proc. of international conference on intelligent robots and systems (Vol. 3, pp. 140–145).
Bergamasco, M., Avizzano, C. A., Frisoli, A., Ruffaldi, E., & Marcheschi, S. (2006). Design and validation of a complete haptic system for manipulative tasks. Advanced Robotics, 20(3), 367–389.
Acknowledgement
This research is supported in part by ANR (project Mandarin—ANR-12-CORD-0011).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Talvas, A., Marchal, M., Cirio, G., Lécuyer, A. (2013). 3D Interaction Techniques for Bimanual Haptics in Virtual Environments. In: Galiana, I., Ferre, M. (eds) Multi-finger Haptic Interaction. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-5204-0_3
Download citation
DOI: https://doi.org/10.1007/978-1-4471-5204-0_3
Publisher Name: Springer, London
Print ISBN: 978-1-4471-5203-3
Online ISBN: 978-1-4471-5204-0
eBook Packages: Computer ScienceComputer Science (R0)