But Did You Take It All In?

These effects include collision physics, surface modelling, and haptic distance rendering. Perceptual effects are crucial to maintaining a “haptic illusion” that ensures that the user is immersed in a “real” game. In a game where the user is sliding a manipulandum across a surface, the virtual environment must compete with the physical dynamics of the apparatus. The kinematics and dynamics of the mechanism were derived using basic concepts of trigonometry and Jacobians. We discuss hardware design and implementation, kinematics and dynamics of the device, perceptual effects rendered, a control analysis of the device, graphics, and the final hardware integration and demonstration. Perceptual effects like those above must of course be rendered physically by the haptic device. For air hockey and games like it, collision physics are especially important; modelling these impulses are difficult because they occur nearly instantaneously in software timing, but must be rendered realistically. These impulses are then rendered using a variety of techniques ranging from constant impulse rendering (each collision is rendered as a flat pulse of force in time) to more complex, time-varying impulses designed from user studies. If there are currently no tips listed then it means there are no scheduled matches so why not visit one of the pages already mentioned.

Wait 10 seconds or until any dizziness subsides and then repeat until you have walked approximately 50 feet. Wait again for a few seconds or until any signs of vertigo go away. A field was created using foam and overlaid with smooth chart paper, creating a low friction surface to rest the striker on. These are mapped to user study responses, allowing a designer to produce a haptic surface with desired characteristics (e.g. compliance, smoothness) by tuning parameters in a virtual environment. The “easy” setting incorporated a control scheme that guided the user toward the puck, assisting them in defending their goal and making accurate strikes. The software design was performed with a view toward making an experience that users of different skill levels could enjoy equally. These food gifts are typical in sports baskets, making them an ideal fun choice as gifts for guy friends. We agree that basketball needs to be a fun activity, but this game has so many life lessons to give, and it would be a shame not to experience it.

How “hard” is “too hard” (or hard enough!) for a user to want to continue playing our game, and is virtual damping sufficient to increase game difficulty? The “hard” setting was designed to make the game more challenging by incorporating increased damping in the virtual environment, impeding the user’s movement. How do we tune our assistive controller so that it helps the user play the game, but does not make the environment active? The hardware was designed to allow the user access to an appropriately sized workspace for playing the game without violating important hardware requirements such as motor torque limitations and system stability. Air hockey is commonly used in these fields as a testbed for hardware and software development due to its intuitive presentation and ease of implementation relative to more costly haptic devices. The finished experience is a game, and the environment must reflect this in both software and hardware design.

The finished product has value as a game, but also takes cues from haptics design for use in physical therapy. This project draws on previous work in 2-DoF haptics device design and control, as well as user experience design for haptic virtual environments. Haptic rendering of surfaces is a problem that has also received much interest in the context of user experience. In particular, we were interested in designing dynamic difficulty in the context of physical therapy and gameplay between differently skilled opponents. Air hockey is a convenient testbed for designing 2-DoF haptic environments due to its familiarity, clear objective, and relative simplicity. Should screws nested in sleeve bearings formed the free joints of the pantograph and the air hockey striker was 3D printed. For our system, the Jacobian ‘J’ can be determined by differentiating the final equations of kinematics (i.e. the equation governing the position of the striker) with respect to the angles at the two base joints. The field also had physical walls that restricted the movement of the striker.

As such, authors in this field focus on rendering a large workspace with a relatively compact device. The length of the base link was chosen to be 10 cm in order to minimize wire lengths and allow for a compact base. This was necessary in order to prevent singular configurations and also to ensure that the forward and reverse kinematics had a unique solution. This project is an exercise in haptic system design, control, and analysis. We divide our methods for this project into several subsections below. The use of artificial damping and PD control to balance gameplay were examined here, and served as a compelling proof of concept for these elements in this project. Users who require physical assistance receive help from an AI that guides their movements towards the puck when it is beneficial to do so, while skilled users are handicapped by increased damping forces applied to the striker.

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