Haptic Workbench

Principal Investigator: Ming Lin
Funding Agency: U.S. Army Research Office
Agency Number: DAAD19-00-1-0075

Abstract
We propose to develop a "Haptic Workbench" that will serve as a virtual reality interface for electronic prototyping and scientific exploration. This system will allow engineers, designers and scientists to collaborate through a shared virtual environment with a natural and intuitive physically-based haptic interface.

We are requesting equipment to support major ongoing research efforts in physically-based haptic interaction. In particular we propose to acquire:

• The PHANTOM 1.5, a six-degrees-of-freedom (6-dof) force- & torque-feedback device by SensAble Technologies, Inc.)
• Immersive Workbench, a virtual modeling display system by Fakespace

We will interface them with high performance SGI graphics supercomputers and Pentium-III PCs to perform interactive and high fidelity simulation. Furthermore, the requested 6-dof Phantom 1.5 haptic arm and Immersive Workbench with CrystalEyes Eyewear system will be used to develop a versatile "Haptic Workbench", as an intuitive virtual reality interface. Combined with existing equipment and in-house software tools, the proposed equipment will be used for best software realizations and integration of current algorithms and applications to different domains.

Our research focus would be on developing algorithms for high fidelity haptic interaction using a wide range of force feedback devices (including 6-dof arms) independently or simultaneously. We will integrate the algorithms and resulting software with commercially available force-feedback devices, haptic rendering toolkits, Immersive Workbench and PIT (a computer graphics workspace designed for collaborating users). We will demonstrate the effectiveness of Haptic Workbench for virtual prototyping of mechanical assemblies using a 6-degree-of-freedom arm.

The proposed research is expected to lay the algorithmic foundation for an emerging paradigm of natural tactile interactions with virtual environments. Furthermore, the resulting system will also be useful for displaying, managing and interacting with battlespace information. The major ongoing research projects that will benefit from the request equipments include:

• Dynamic Simulation and Path Planning for Virtual Environments
• Interactive Haptic Simulation for Engineering Design
• Robot Algorithms for Haptic Interaction
• Interactive Multi-level Multi-Scale Simulator for Complex Physical and Biological Systems
• Flexible and Portable Interface Systems for Virtual Environments

The PI is actively engaged in research in these areas. Current projects are sponsored by ARO, NSF, DOE (Livermore Labs), Intel, etc. The requested equipment is critical for our collaboration and technology transfer to DOD/DOE labs and industry. Although the proposal is submitted by the principal investigator, the equipment will be actively used by more than 15 faculty members from Computer Science, Physics, Chemistry, Biology, Mathematics, Radiation Oncology and about 75 graduate students. Some of this equipment will also be made available for classroom instruction and laboratories.