MANHaptic: A Haptic Adaptive Method for Precise Manipulation, Assembly and Navigation
Résumé
Many techniques may be applied to overcome the physical limitations induced by the small workspace of most haptic devices in a navigational context, such as the Bubble technique , or to manipulate virtual objects, such as clutching techniques. Several assem bly tasks require high precision, and haptic - guide based approaches are often used in order to help the user to reach a precise and predefined assembly goal. However, the re are a few haptic interaction techniques designed to facilitate micro - assembly tasks for which haptic guidance is unsuitable, such as protein docking. The objective is to find an optimal but precise 3D configuration by interactive exploration. In this paper, we propose an innovat ive technique to both overcome the physical limitations of t he device and to reach the high accuracy required by micromanipulation tasks without a predefined goal. This approach is based on a non - isomorphic mapping around a neutral referential retrieved by an elastic haptic feedback, in addition to external haptic feedback. We present at the end of this paper an application and a preliminary ergonomic study of this approach in a molecula r docking application framework.