A novel force feedback haptics system with applications in phobia treatment

Abstract

It is well known that multi-sensory stimulation can enhance immersion within virtual environments. Whilst there has been rapid development of devices which can enhance the visual immersion, technology to stimulate other senses, such as touch, is still under developed. Currently there is a problem wherein a surface in a virtual environment, such as a wall, cannot replicate the physical properties of a solid object. In this paper a novel system is proposed utilising the HTC VIVE and Rethink Robotics’ Baxter Robot to replicate surfaces. A demonstration has been created whereby a user climbs a wall in a virtual environment by grabbing onto ledges which exist as a physical body located on Baxter’s end effector. The system uses bi-directional TCP communication between an environment developed in Epic Games’ Unreal Engine and the Baxter robot running the Robot Operating System framework. When an ascending user reaches out and grabs a ledge on the virtual wall they will be applying a torque to the Baxter arm which can be measured and the intended movement of the user inferred, resulting in the ledge being moved through a suitable Inverse Kinematics path. This has provided the user with the ability to climb a wall in VR in the absence of any hand tracking methods whilst receiving force feedback from the ledges they grasp onto. Current alternative systems only exist as wearables or operate in small spaces. The increased immersion in this VR demo can be used to assist those with phobias of heights.