Optimal Secondary Controls Using a Configurable Haptic Interface
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Optimal Secondary Controls Using a
Configurable Haptic Interface
William DurfeeDepartment of Mechanical
EngineeringUniversity of Minnesota
Supported byCenter for Transportation Studies
Contributing playersSenthil S., Rahul Akolkar
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The problem Automobile
dashboards getting crowded
Drivers do more while driving
Distractions on the rise
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The solution
Replace many controls with single control
Control takes on visual, haptic, auditory characteristics tailored to task
Properties change with task All without confusing the driver
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Project tasks Design, fabricate, test configurable
panel control that uses visual, aural, haptic feedback to aid user in task performance
Determine how information bandwidth depends on haptic, aural properties
Conduct human factors test in a driving simulator
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Is it the iDrive?
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Virtual product prototyping
Apply virtual reality technology to create product prototypes Move beyond CAD-based visual rendering
See Hear Touch
? ?
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Panel controls: simplified paradigm for research
•Fixed in space, single d-o-f, low-force, simple graphics•Sufficiently complex to enable exploration of research questions
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Apparatus
visual display
Ethernet
SGI
PC
servoamp
motion, force, torque motor
haptic display
speaker
aural display
green screen
camera
to SGI
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Perceptual experiments
Impact of display “quality” on Perceived level of realism Ability of user to perform specified design
tasks Understand sensory interaction in
multi-model virtual environments Which sense dominates Can you trick the sensory system…to
your advantage?
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Compare virtual to real materials Sight/sound/touch With or without sensory conflict
Probing experiments
subject
TV
monitor
motorgreen screen
probereference materials
speakers
camera
to SGI
test material
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What we learned
Virtual environment does well when emulating soft materials
Haptic cues are important for matching
Adding visual or sound cues to haptics improves perceived quality of match
Subjects tended not to use sound cues for matching
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Human motor performance with visual/haptic interface What should haptic knob feel like for a
selection task? Vary target haptics, background haptics Best haptics for rapid selection: target
damping With good haptics, can perform secondary
tasks rapidly leaving more time for primary navigation task
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Technology development tasks
Networked architecture for three control computers (visual/haptic/aural)
New control technology (visual/haptic/aural)
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Technology Haptics
Matlab xPC Target for real-time control Aural
Synthetic sound Summation of decaying sinusoids DirectSound for synchronized, real-time
sound production Visual
Windows based tools for visual effects NVIDIA GeForce FX 5600
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System Architecture
VISUAL PC
HAPTIC PC
AURAL PC
SERVO-AMP
MOTOR
Visual C++ [Graphics scene, Chromakey, UDP communication]
HUMAN
TV
VIDEO CARD
SPEAKERS
MATLAB
KNOB
UDP/IPUDP/IP
xPC TARGET
CAMERA
network
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DirectShow
*DirectShow System Overview: www.microsoft.com
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Virtual Scene + Chromakeyed User hand
Graphic knob rotates using data via UDP from haptics controller
Pro/E Open Inventor Direct3D X
Capture video for chromakey: DirectShow tools
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STISIM Driving Simulator
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