A Comparison of Three Techniques to Interact in Large Virtual Environments Using Haptic Devices with Limited Workspace

  • Lionel Dominjon
  • Anatole Lécuyer
  • Jean-Marie Burkhardt
  • Simon Richir
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4035)


This paper describes an experiment that was conducted to evaluate three interaction techniques aiming at interacting with large virtual environments using haptic devices with limited workspace: the Scaling technique, the Clutching technique, and the Bubble technique. Participants were asked to paint a virtual model as fast and as precisely as possible inside a CAVE, using a “desktop” haptic device. The results showed that the Bubble technique enabled both the quickest and the most precise paintings. It was also the most appreciated technique.


Virtual Environment Cognitive Load Scaling Technique Interaction Technique Haptic Device 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Volkov, S., Vance, J.: Effectiveness Of Haptic Sensation For the Evaluation of Virtual Prototypes. ASME Journal of Computing and Information Science in Engineering (2001)Google Scholar
  2. 2.
    Wall, S., Harwin, W.: Quantification of the effects of haptic feedback during motor skills tasks in a simulated environment. In: 2nd PHANToM Users Research Symposium, Zurich, Switzerland (2000)Google Scholar
  3. 3.
    Cruz-Neira, C., Sandin, D., Defanti, T.: Surround-Screen Projection-Based Virtual Reality: The Design and Implementation of the CAVE. In: SIGGRAPH (1993)Google Scholar
  4. 4.
    Johnsen, E., Corliss, W.: Human Factors Applications in Teleoperator Design and Operation. In: John Wiley & Sons (ed.) (1971)Google Scholar
  5. 5.
    Fischer, A., Vance, J.: PHANToM Haptic Device Implemented in a Projection Screen Virtual Environment. In: 7th International Immersive Projection Technologies Workshop and 9th Eurographics Workshop on Virtual Environments, Zurich, Switzerland (2003)Google Scholar
  6. 6.
    Dominjon, L., Lécuyer, A., Burkhardt, J.-M., Andrade-Barroso, G., Richir, S.: The Bubble Technique: Interacting with Large Virtual Environments Using Haptic Devices with Limited Workspace, Pisa, Italy (2005); presented at World Haptics Conference (joint Eurohaptics Conference and Haptics Symposium)Google Scholar
  7. 7.
    HAPTION, VIRTUOSE API V2.0 Programming Manual (2004)Google Scholar
  8. 8.
    Preusche, C., Hirzinger, G.: Scaling issues for Teleoperation. In: Fifth PHANToM Users Group Workshop, Aspen, Colorado, US (2000)Google Scholar
  9. 9.
    Hollis, R.L., Salcudean, S.E.: Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation. In: International Symposium for Robotics Research (1993)Google Scholar
  10. 10.
    Casiez, G.: Contribution à l’étude des interfaces haptiques - le DigiHaptic: un périphérique haptique de bureau à degrés de liberté séparés. PhD Thesis. Lille, University of Lille (2004)Google Scholar
  11. 11.
    SensAble Technologies Incorporated,

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Lionel Dominjon
    • 1
  • Anatole Lécuyer
    • 2
  • Jean-Marie Burkhardt
    • 3
  • Simon Richir
    • 1
  1. 1.P & I Laboratory, ENSAM AngersFrance
  2. 2.SIAMES Project, INRIA/IRISAFrance
  3. 3.EIFFEL ProjectUniversity of Paris 5/INRIAFrance

Personalised recommendations