Haptic interaction in a virtual world can be tool mediated or direct; and, among direct interactions, the encountered haptic interfaces provide physical contact only when there is contact with a virtual object. This paper deals with the haptic rendering of the catching and throwing of objects by means of this type of interface. A general model for the rendering of the impact is discussed with the associated formalism for managing multiple objects and multiple devices. Next, a key parameter for simulating the impact is selected by means of a psychophysical test. Finally, a working system is presented with the application of the rendering strategy to the case of haptic juggling, showing the possibility of effectively performing basic juggling patterns with two balls.

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© 2012 by the Massachusetts Institute of Technology
2012

Supplementary data

Haptic Juggling

Encountered haptic interfaces allow the user to be freed from contact with the device when there is no interaction with virtual objects. This is fundamental during the interaction with dynamic objects, in particular in the case of catch and toss. This work introduces encountered haptics for dynamic objects, discussing how to model catching of objects taking into account the perceived intensity of impact. The proposed approach is applied to a haptic juggling system that allows simulation of the co-located visuo-haptic interaction with multiple balls. (© 2012 by the Massachusetts Institute of Technology)

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