The research presented in this paper is the design and implementation of a force feedback hand master called AirGlove. The device uses six ports arranged in a Cartesian coordinate frame setting to apply a point force to the user’s hand. Compressed air is exhausted through the ports, creating thrust forces. The magnitude and direction of the resultant force are controlled by changing the flow rate of the air jets and by activating different ports. The AirGlove can apply an arbitrary point force to the user’s hand. However, the main goal of this research is to reflect gravitational forces to the user so that sensation of weight of a virtual object can be created. After introduction of the main concept of the AirGlove, the paper presents design and implementation details of the device. Integration of the AirGlove with a virtual assembly system called VADE is explained next. Finally, details of experiments with the device are presented and discussed. Results indicate that users wearing the AirGlove can feel a minimum mass of about 100 grams (∼1N weight) and the device can create a fairly realistic weight sensation.
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June 2003
Technical Papers
Weight Sensation in Virtual Environments Using a Haptic Device With Air Jets
Hakan Gurocak, ASME Member,
Hakan Gurocak, ASME Member
Manufacturing Engineering, Washington State University, Vancouver 14204, NE Salmon Creek Ave., Vancouver, WA 98686
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Sankar Jayaram ,,
Sankar Jayaram ,
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
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Benjamin Parrish , and,
Benjamin Parrish , and
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
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Uma Jayaram, ASME Member
Uma Jayaram, ASME Member
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
Search for other works by this author on:
Hakan Gurocak, ASME Member
Manufacturing Engineering, Washington State University, Vancouver 14204, NE Salmon Creek Ave., Vancouver, WA 98686
Sankar Jayaram ,
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
Benjamin Parrish , and
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
Uma Jayaram, ASME Member
School of Mechanical and Materials Engineering, P.O. Box 642920, Washington State University, Pullman, WA 99164-2920
Contributed by the Engineering Simulization and Visualization Committee for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received Jun. 2002; Revised Feb. 2003. Associate Editor: D. Rosen.
J. Comput. Inf. Sci. Eng. Jun 2003, 3(2): 130-135 (6 pages)
Published Online: June 30, 2003
Article history
Received:
June 1, 2002
Revised:
February 1, 2003
Online:
June 30, 2003
Citation
Gurocak, H., Jayaram , , S., Parrish , and , B., and Jayaram, U. (June 30, 2003). "Weight Sensation in Virtual Environments Using a Haptic Device With Air Jets ." ASME. J. Comput. Inf. Sci. Eng. June 2003; 3(2): 130–135. https://doi.org/10.1115/1.1576808
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