NDLI: Activation cues and force scaling methods for virtual fixtures

Content Provider	IEEE Xplore Digital Library
Author	Nolin, J.T. Stemniski, P.M. Okamura, A.M.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA (Nolin, J.T.; Stemniski, P.M.; Okamura, A.M.)
Abstract	Previous work has shown that virtual fixtures applied to cooperative manipulation systems improve performance in tracking tasks. However, if a user wishes to move away from the nominal path, the stiffness of the virtual fixture should be adjusted to increase the level of user control. Our experiments show that modifying the stiffness of a soft virtual fixture can improve a user's performance, measured by position error and execution time, for a task where the user targets a point off the nominal path. Three methods of changing the stiffness of the virtual fixture were tested: on/off toggle, linear fade, and constant force hold. In addition, we considered three methods of activating the stiffness change: explicit, implicit, and automatic. User trials revealed that several combinations of stiffness scaling and activation methods significantly reduced position errors when compared to no stiffness adjustment.
Sponsorship	IEEE Comput. Soc. Tech. Committee on Visualizatin & Graphics
Starting Page	404
Ending Page	409
File Size	540109
Page Count	6
File Format	PDF
ISBN	0769518907
DOI	10.1109/HAPTIC.2003.1191325
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-03-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fixtures Haptic interfaces Virtual environment Surgery Surges Humans Mechanical engineering Position measurement Time measurement Testing
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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