Feasible wrench space and its estimation for isometric haptic interaction

Timothy Edmunds, Reinhard Gentner, Andrea D'Avella, Dinesh K. Pai

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Standard approaches to mapping force to displacement or force to velocity with multi-DoF isometric haptic devices typically ignore the directional variability in a user's feasible wrench. We demonstrate that such a directionally-uniform mapping tends to either over-sensitize the interaction in some directions or under-utilize the user's operational range. To increase the effective use of the user's operational range it is necessary to model that range across all directions; for high-dimensional devices that measure wrenches (i.e, forces and torques) the space of directions is non-trivial to model by sampling. We present an approach that uses in-depth measurement of the feasible wrench space of a small number of users to extract a generic model for a given device interaction context; the generic model can then be automatically fitted to other users through a small number of measurements. In a user study comparing our method against the standard directionally-uniform assumption we show that our method generates a significantly better estimation of a user's output range, while requiring only a few measurements.

Original languageEnglish
Title of host publicationHaptics Symposium 2012, HAPTICS 2012 - Proceedings
Number of pages5
Publication statusPublished - 2012
Event2012 IEEE Haptics Symposium, HAPTICS 2012 - Vancouver, BC, Canada
Duration: Mar 4 2012Mar 7 2012


Other2012 IEEE Haptics Symposium, HAPTICS 2012
CityVancouver, BC

ASJC Scopus subject areas

  • Human-Computer Interaction


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