Interactive Dynamic Simulations with Co-Located Maglev Haptic and 3D Graphic Display
Peter J. Berkelman, Sebastian Bozlee, Muneaki Miyasaka · 2013
Abstract—We have developed an system which combines realtime dynamic simulations, 3D display, and magnetic lev-itation to provide high-fidelity co-located haptic and graphic interaction. Haptic interaction is generated by a horizontal array of cylindrical coils which act in combination to produce arbitrary forces and torques in any direction on magnets fixed to an instrument handle held by the user, according to the position and orientation sensed by a motion tracking sensor and the dynamics of a realtime physical simulation. Co-located graphics are provided by a thin flat screen placed directly above the coil array so that the 3D display of virtual objects shares the same volume as the motion range of the handheld instrument. Shuttered glasses and a head tracking system are used to preserve the alignment of the displayed environment and the interaction handle according to the user’s head position. Interactive demonstration environments include rigid bodies with solid contacts, suspended mass-spring-damper assemblies, and deformable surfaces. Keywords-haptics, interaction, simulation I.