Encountered-type haptic interface for grasping interaction with round variable size objects via pneumatic balloon

Abstract

This paper presents the concept and implementation of an encountered-type haptic interface that enables interaction with soft round-shaped objects. The core part of the system is a silicone balloon whose size is controlled by a pneumatic actuator in accordance with the size of a virtual object being touched. The balloon is mounted on a position-controlled robotic arm, and its position is controlled so that it follows a user’s hand. The user encounters the balloon only when the proxy representing the hand in the virtual world is in contact with the virtual object. Our new haptic system allow the user not only to grasp a soft object with variable size, but also to follow the contour of the virtual object. The accuracy and control bandwidth of the rendering result was measured and shows that the radius of the balloon was accurately controlled with high speed. The potential of the system is also demonstrated by an example interaction scenario: interaction with human avatar’s arm.