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CapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback

Authors:

Mar Gonzalez-Franco,

Christian HolzAuthors Info & Claims

UIST '19: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology

Pages 815 - 829

https://doi.org/10.1145/3332165.3347891

Published: 17 October 2019 Publication History

Abstract

We introduce CapstanCrunch, a force resisting, palm-grounded haptic controller that renders haptic feedback for touching and grasping both rigid and compliant objects in a VR environment. In contrast to previous controllers, Cap-stan¬Crunch renders human-scale forces without the use of large, high force, electrically power consumptive and ex-pensive actuators. Instead, CapstanCrunch¬ integrates a friction-based capstan-plus-cord variable-resistance brake mechanism that is dynamically controlled by a small inter-nal motor. The capstan mechanism magnifies the motor's force by a factor of around 40 as an output resistive force. Compared to active force control devices, it is low cost, low electrical power, robust, safe, fast and quiet, while providing high force control to user interaction. We describe the de-sign and implementation of CapstanCrunch and demon-strate its use in a series of VR scenarios. Finally, we evalu-ate the performance of CapstanCrunch in two user studies and compare our controller with an active haptic controller with the ability to simulate different levels of convincing object rigidity and/or compliance.

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Cited By

Shi KGao YXiang YZhang MZhu LSong A(2025)Development and Evaluation of a Quasi-Passive Stiffness DisplayIEEE Robotics and Automation Letters10.1109/LRA.2024.351134910:1(692-699)Online publication date: Jan-2025
https://doi.org/10.1109/LRA.2024.3511349
Sayyed MJadhav BBarnabas VGupta S(2024)Human-Machine Interaction in the MetaverseImpact and Potential of Machine Learning in the Metaverse10.4018/979-8-3693-5762-0.ch001(1-28)Online publication date: 26-Jul-2024
https://doi.org/10.4018/979-8-3693-5762-0.ch001
Berna Moya Jvan Oosterhout AMarshall MMartinez Plasencia D(2024)HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic FeedbackSensors10.3390/s2403093524:3(935)Online publication date: 31-Jan-2024
https://doi.org/10.3390/s24030935
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Index Terms

CapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices
      1. Haptic devices
    2. Interaction paradigms
      1. Virtual reality

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cover image ACM Conferences

UIST '19: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology

October 2019

1229 pages

ISBN:9781450368162

DOI:10.1145/3332165

General Chair:
François Guimbretière
Cornell University, USA
,
Program Chairs:
Michael Bernstein
Stanford University, USA
,
Katharina Reinecke
University of Washington, USA

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Published: 17 October 2019

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October 20 - 23, 2019

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Overall Acceptance Rate 561 of 2,567 submissions, 22%

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Cited By

Shi KGao YXiang YZhang MZhu LSong A(2025)Development and Evaluation of a Quasi-Passive Stiffness DisplayIEEE Robotics and Automation Letters10.1109/LRA.2024.351134910:1(692-699)Online publication date: Jan-2025
https://doi.org/10.1109/LRA.2024.3511349
Sayyed MJadhav BBarnabas VGupta S(2024)Human-Machine Interaction in the MetaverseImpact and Potential of Machine Learning in the Metaverse10.4018/979-8-3693-5762-0.ch001(1-28)Online publication date: 26-Jul-2024
https://doi.org/10.4018/979-8-3693-5762-0.ch001
Berna Moya Jvan Oosterhout AMarshall MMartinez Plasencia D(2024)HapticWhirl, a Flywheel-Gimbal Handheld Haptic Controller for Exploring Multimodal Haptic FeedbackSensors10.3390/s2403093524:3(935)Online publication date: 31-Jan-2024
https://doi.org/10.3390/s24030935
Zheng WXiong DLi JJiang JWeng CZhou JFan M(2024)Investigating Size Congruency Between the Visual Perception of a VR Object and the Haptic Perception of Its Physical World AgentProceedings of the 17th International Symposium on Visual Information Communication and Interaction10.1145/3678698.3678706(1-9)Online publication date: 11-Dec-2024
https://dl.acm.org/doi/10.1145/3678698.3678706
Dietz DVilla SZiarko MBonfert MMüller FButz AKostakos VKay JHoang T(2024)Embracer: A Wearable Encountered-Type Haptic Controller for 3 DoF Input and FeedbackProceedings of the 2024 ACM International Symposium on Wearable Computers10.1145/3675095.3676626(140-143)Online publication date: 5-Oct-2024
https://dl.acm.org/doi/10.1145/3675095.3676626
Jung CCollins JGonzalez Penuela RSegal JWon AAzenkot S(2024)Accessible Nonverbal Cues to Support Conversations in VR for Blind and Low Vision PeopleProceedings of the 26th International ACM SIGACCESS Conference on Computers and Accessibility10.1145/3663548.3675663(1-13)Online publication date: 27-Oct-2024
https://dl.acm.org/doi/10.1145/3663548.3675663
Kang SKim GHwang SPark JElsharkawy AKim S(2024)Flip-Pelt: Motor-Driven Peltier Elements for Rapid Thermal Stimulation and Congruent Pressure Feedback in Virtual RealityProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676363(1-15)Online publication date: 13-Oct-2024
https://dl.acm.org/doi/10.1145/3654777.3676363
Kim MOfek EPahud MSinclair MBianchi A(2024)Big or Small, It’s All in Your Head: Visuo-Haptic Illusion of Size-Change Using Finger-RepositioningProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642254(1-15)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642254
Kim TShim YKim YKim SLee JLee G(2024)QuadStretcher: A Forearm-Worn Skin Stretch Display for Bare-Hand Interaction in AR/VRProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642067(1-15)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642067
Jingu ASabnis NStrohmeier PSteimle J(2024)Shaping Compliance: Inducing Haptic Illusion of Compliance in Different Shapes with Electrotactile GrainsProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3641907(1-13)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3641907
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