DualPanto is a haptic feedback device that allows blind users to track moving objects as they move around the virtual world.
As shown in the picture above, the device contains two handles. For interaction with DaulPanto, the user needs to actively move the me handle with one hand and passively hold the it handle with the other hand. DualPanto applications typically use the me handle to represent the user's avatar, and the it handle to represent other moving entities, such as opponents in a football match.
1. Interaction with DualPanto
me handle: As shown in the image above, DualPanto applications typically use the me handle to represent the user's avatar.
(a) The user moves and explores the virtual environment by moving the me handle. The device uses direct 1:1 mapping, similar to that of a touch screen. When the user returns the handle to the same position in the physical world, the avatar will return to the same position in the virtual world.
(b) The knob itself allows the user to rotate the virtual character. The tip of the handle indicates the face of the avatar.
(c) When the user pushes the wall, the me handel will provide force feedback resistance.
(d) The me handle plays a back haptic icon, e.g. a brief knockback force when the player is hit by a cannonball.
it handle: As shown in the image above, the DualPanto application uses the it handle to render a specific mobile opponent, such as an opponent in a first-person shooter.
(a) If the object represented by it handle moves, the handle also moves. The handle is only actuated by the device, which means it will prevent the user from moving the handle. By allowing the handle to guide the user's hand, the user can track associated objects. For example, feel how the opponent is moving, and perceive the current position of the opponent relative to your avatar.
(b) At the same time, actuating the knob will convey to the user the orientation of the object. The it handle can also display haptic icons, such as pulses when an opponent is hit.
2. Applications
Shooter is a first-person survival shooter. In this content, players must fight a series of approaching zombie bunnies while avoiding their touch.
3. Implementation
3.1 Pantograph
DualPanto implements a haptic pantograph design. The reason for choosing this design is that it is a plane and therefore suitable for a single registered workspace with no collisions. The two pantographs operate independently, with two pantographs controlling the structure of a single end effector. The implementation of the R&D team is based on the open source Happy platform.
The two pantographs are individually mounted on a 3D printed tripod. The development team has weighted the legs of the tripod to improve stability. The linkage is made from 3mm laser-cut aluminum, which is rigid enough to avoid deflection. This keeps the vertical distance between the two handles.
3.2 Handle
The me handle and it handle are mounted on the arm of the pantograph. The me handle contains a small motor (Pololu, 6V) with a 10:1 gear ratio that can be easily reverse driven for user input. The gear ratio of the it handle reaches 75:1, which can provide enough force for the system output.
To indicate orientation, each DualPanto handle is fitted with a 3D-printed asymmetric tip. After trying several designs, the "flat teardrop" design (8 x 10 x 15 mm) performed the best, as its orientation was clearly felt at all times when held with the index finger and thumb.
4. User Research
The development team conducted a study to see if DualPanto could help blind users interact in spatial virtual environments. Participants played 1v1 football matches and reported their experiences. They recruited a total of six visually impaired subjects (aged 14-45 years, including 1 woman). In subjects' self-reports, visual acuity levels ranged between total blindness and a 16% monocular blindness rate. Participants played one or more games with trained players (one of the researchers) for 3-10 minutes and then provided feedback during the interview.
4.1 DualPanto can realize the spatial perception of game state
DualPanto supports continuous interaction with moving objects. All six subjects were able to track opponents and respond to their positions, either passing them during practice (subjects 2-6) or avoiding them and shooting during play (subjects 1, 2, 4-6). The subjects were able to know the opponent's actions throughout the field. When the trained player scored, subject 3 responded, "I lost the point"; when the trained player scored an own goal, subject 5 responded, "Did we score?"
4.2 Multiplayer Experience
Subjects were surprised and excited by the prospect of a multiplayer experience: "I had a good time" (subject 3); "Ah, cool, there are 2 players" (subject 4). Subjects also asked for more multiplayer features: "It would be fun to have more than 2 players" (subject 3).
4.3 As an Interactive Audio-Haptic Game Host
The audio provided the context: "I really liked...that you can hear the sound right away, I really like that" (Subject 2). More sound effects could improve the experience: "The experience could be better if more sound effects were added" (Subject 1), suggesting cheers and gasps from the crowd, as well as the sound effects of a blind soccer ball.
Haptic feedback complements the context provided by audio and can improve interactivity. Subjects felt that this combination could be applied to different games: "You can use force feedback to explore the level and use it handle to reveal the next enemy. The story is related to the audio, so yes, I can imagine this for a role-playing game †(Subject 3).
4.4 Summary
The DualPanto is a haptic device that enables blind users to interact with virtual environments containing real-time moving objects, like a sports or shooter game. Its key feature is that the two tactile input/output handles are spatially registered with each other, enabling blind players to navigate, track, dodge and aim. In a user study, blind subjects rated 6.5/7 when they enjoyed multiplayer football matches.
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