FOLLOU Haptic AVATAR DEVICE Controller

This section illustrate the scenes located in SofaUnity/Scenes/Demos/Haptic/HapticAvatar/ . Those scenes integrate the SOFA Follou Haptic Avatar plugin allowing to interface  haptic devices such as graspers, scissors and camera with 6 dofs  from the company Follou with SOFA simulation.

This feature is available in the trial version but for extended academic or commercial use, this feature is subject to an additional license. See the licenses page for more details.

Request Asset

Haptic Avatar Tool Controller

In this asset, contrary to the Geomagic Touch integration, no additional controller is needed in the Unity scene. All the configuration need to be done directly in the SOFA scene before parsing using for example (see SOFA scene creation in documentation):

  • <HapticAvatar_PortalManager name=”portalMgr” configFilename=”./config/PortalSetup.xml” />
  • <HapticAvatar_DeviceController name=”HADevice” portName=”//./COM3″ portalManager=”@portalMgr” />
  • <HapticAvatar_IBoxController name=”HAIBox” portName=”//./COM5″ />
Follou Device motion
Follou Device motion in SOFA

The device is modelized in SOFA using an Articulated System Mapping mechanism.

Haptic Avatar Demo Scenes

There is From left to right demo scenes to test Haptic Avatar motion (Demo_01_SingleGrasper-motion), contact force feedback with rigid floor (Demo_02_SingleGrasper-rigidFloor) and finally contact with a rigid floor and a rigid cube (Demo_03_SingleGrasper-RigidCube).

 

There is a set of demo scene available directly for one or two devices. They start from simple motion demo like the one on the left called: Demo_01_SingleGrasper-motion to interaction with rigid and deformable bodies.

Here is the full list with explicit names:

  • Demo_01_SingleGrasper-motion
  • Demo_02_SingleGrasper-rigidFloor
  • Demo_03_SingleGrasper-RigidCube
  • Demo_04_SingleGrasper-DeformableCube
  • Demo_05_SingleGrasper-RigidCactus
  • Demo_06_SingleGrasper-DeformableCactus
  • Demo_07_SingleGrasper-DeformableLiver
  • Demo_10_DualGraspers-motion
  • Demo_11_DualGraspers-RigidFloor
  • Demo_12_DualGraspers-RigidCube
  • Demo_13_DualGraspers-DeformableCube
  • Demo_14_DualGraspers-DeformableTorus
Haptic Avatar motion demo
Haptic Avatar against rigid floor demo
Haptic Avatar against rigid cube demo
Haptic Avatar against rigid cactus demo

From left to right demo scenes to test Haptic Avatar against rigid objects like a floor (Demo_02_SingleGrasper-rigidFloor), contact force feedback with rigid cube (Demo_03_SingleGrasper-RigidCube) and finally contact with a rigid cactus (Demo_05_SingleGrasper-RigidCactus).

 

Haptic Avatar against deformable cube demo
Haptic Avatar against deformable cactus demo
Haptic Avatar against deformable liver demo

Similarly from left to right demo scenes to test Haptic Avatar force feedback against deformable objects like a cube (Demo_04_SingleGrasper-DeformableCube), contact force feedback with deformable cactus (Demo_06_SingleGrasper-DeformableCactus) and finally contact with a liver organ (Demo_07_SingleGrasper-DeformableLiver).

 

Haptic AVATAR ADVANCED INTEGRATION

Here is a link to a demo movie of two Haptic Avatar devices interacting with a liver modelized using FEM and with constraint respect to neighbored anatomical structures. The full demo is simulated inside SOFA and rendered using HDRP in Unity.