Chasm: A Screw Based Expressive Compact Haptic Actuator

Abstract: We present a compact broadband linear actuator, Chasm, that renders expressive haptic feedback on wearable and handheld devices. Unlike typical motor-based haptic devices with integrated gearheads, Chasm utilizes a miniature leadscrew coupled to a motor shaft, thereby directly translating the high-speed rotation of the motor to the linear motion of a nut carriage without an additional transmission. Due to this simplicity, Chasm can render low-frequency skin-stretch and high-frequency vibrations, simultaneously and independently. We present the design of the actuator assembly and validate its electromechanical and perceptual performance. We then explore use cases and show design solutions for embedding Chasm in device prototypes. Finally, we report investigations with Chasm in two VR embodiments, i.e., in a headgear band to induce locomotion cues and in a handheld pointer to enhance dynamic manual interactions. Our explorations show wide use for Chasm in enhancing user interactions and experience in virtual and augmented settings.

16/11/2020

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6d pose estimation, multi-object reasoning, object-level mapping, 3d reconstruction, multi-view reconstruction, volumetric reconstruction, slam, robotic manipulation

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Keywords Paper

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Andy Zeng, Pete Florence, Jonathan Tompson and
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cylindrical convolutional networks, viewpoint variation, object detection, viewpoint estimation, convolutional neural networks

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Andras Gabor Kupcsik, Markus Spies, Alexander Klein and
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Keywords Paper

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S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency

Mel Vecerik, Jean-Baptiste Regli, Oleg Sushkov and
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Shengju Qian, Hao Shao, Yi Zhu and
Mu Li, Jiaya Jia

Mix&Match: Towards Omitting Modelling through In-Situ Alteration and Remixing of Model Repository Artifacts in Mixed Reality

Kartik Paigwar, Lokesh Krishna, sashank tirumala and
naman khetan, aditya varma, ashish joglekar, Shalabh Bhatnagar Bangalore, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya