F. P. Brooks, Jr. et al. Project GROPE - Haptic Displays for Scientific Visualization. ACM Computer Graphics, 24(4):177--185, Aug. 1990.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....Non glove based force feedback devices include the Tsukuba Master Manipulator [Iwata, 1990] SPIDAR [Ishii and Sato, 1994] the Joystring [Foley, 1987, p 89] and the PHANTOM of SensAble Technologies. Project GROPE at the University of North Carolina at Chapel Hill (UNCCH) Ouh Young et al. 1988, Brooks et al. 1990, Minsky et al. 1990] has gone through several generations of increasingly multidimensional force feedback, the most impressive version using a servo controlled remote manipulator arm. This research has also indicated that the use of force feedback actually increases productivity in the intended ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Bat- ter, and Paul Jerome Kilpatrick. Project GROPE--haptic displays for sci- entific visualization. In SIGGRAPH [1990], pages 177-185. http://www. acm. org/pubs/contents/proceedings/graph/97879/.

....use actu ators in an exoskeleton. Non glove based force feedback devices include the Tsukuba Master Manipulator [Iwata, 1990] SPIDAR [Ishii and Sato, 1994] and the Joystring [Foley, 1987, p 89] Project GROPE at the University of North Carolina at Chapel Hill (UNCCH) Ouh Young et al. 1988, Brooks et al. 1990, Minsky et al. 1990] has gone through several generations of increasingly multidimensional force feedback, the most impressive version using a servo controlled remote manipulator arm. This research has also indicated that the use of force feedback actually increases productivity in the intended ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Bat- ter, and Paul Jerome Kilpatrick. Project GROPE--haptic displays for sci- entific visualization. In SIGGRAPH [1990], pages 177-185. http://www. acm. org/pubs/contents/proceedings/graph/97879/.

....limited in both type and strength. Therefore, a more flexible approach to stimulating the haptic sense is through the use of active haptic feedback [15] These approaches typically 6 deliver stimuli using some sort of force reflecting device, such as an arm linkage employing sensors and actuators [16,17], force feedback gloves [18] or master manipulators [19] Much of the empirical work into determining how we sense touch has focused on the hands, and, in particular, on the finger pad of the index finger [20] Some approaches combine tactile and kinesthetic stimulation into a single system. Howe ....

....knowledge into interface design. Traditional computer interface devices can be augmented to provide additional information about mouse [34] or TrackPoint [33] movement. Telemanipulation systems using this type of feedback can allow users to get a better understanding of the remote environment [16,19]. The virtual contact work reported here is partially driven by a desire by the United States Marines to use VT feedback in dismounted infantry simulations to improve the user s sense of collision with purely virtual objects. Soldiers training for a mission can use this feedback to improve the ....

Brooks F, Ouh-Young M, Batter J, Kilpatrick P. Project GROPE - Haptic displays for scientific visualization. In: Proc. of ACM SIGGRAPH '90 1990; 177-185.

.... areas of a complex object so that regions of focus or interest are enlarged, and other regions de emphasized; this has been applied in many areas, including groupware [25] and the Web hypermedia [26,2] Haptic feedback is a well established technique in VE use for physical processes [27,28]; warping as we present it here provides some similar feedback but without the need for forcegenerating devices. Acknowledgements This research is supported in part by the United States Environmental Protection Agency under grant #R82 795901 3, and by the National Science Foundation ....

Brooks, F.P., M. Ouh-Yound, J.J. Batter, and P.J. Kilpatrick, Project Grope: Haptic displays for scientific visualization, Computer Graphics: Proc. of SIGGRAPH 90, vol. 24, Aug. 1990, pp. 177-185.

....The Mercator Project at the Georgia Institute of Technology uses a force feedback device called Pantograph [9] which allows a user to perceive different 2D windows, and move them on the screen. Some other force feedback devices are used for robotic research, and manipulation of virtual objects in [37, 38, 39]. 4 The proposed MoVE System The main focus of the proposed MoVE system is to form cognitive maps using haptic interaction. Formation, fine tuning, expressing, and manipulation all of these are also the goals of this system. We also want a blind person to form precise cognitive maps of any ....

F.P. Brooks, M.J. Ouh-Young, J.J. Batter, and P.J. Kilpatrick, Project GROPE -- Haptic Displays for Scientific Visualization. Proceedings of SIGGRAPH

.... 4 Figure 1: Using a Desktop Maglev Haptic Interface Device with a Graphical Display Brooks group at the University of North Carolina established Project GROPE for evaluation of spatial object placement and molecular docking tasks in virtual physical environments using 6 DOF haptic interfaces [8]. In their experiments, user performance was approximately doubled with the addition of force feedback. One of the observations from this research was that the manipulator arm haptic interfaces they were using were marginally adequate and noted that mechanical backlash, static friction, and other ....

F. Brooks, Jr., M. Ouh-Young, J. J. Batter, and P. Kilpatrick, "Project GROPE---haptic displays for scientific visualization," Computer Graphics, vol. 24(4), pp. 177--185, August, 1990.

....the operator s body are required [7] This direct contact between hard equipment and operator limits the range of movement and may occlude the graphical display. As well, the weight and the bulk of the mechanical attachments are clearly perceived by the operator, figure 1. Although GROPE project [1] may be the most famous human scale virtual environment system with force display. Yet, most of the current haptic devices are designed for desktop usage and display force feedback to only one hand. Unlike video and audio, force information is very difficult to send through air. To form a 3D force ....

F.P. Brooks, M.O.Young, J.J.Batter and P.J.Kilpatrick (1990)" Project GROPE- Haptic Display for Scientific Visualization" Computer Graphics, Proc. ACM SIGGRAPH'90, Vol.24, No4, pp. 177-185.

....object through the stylus. When the user holds and moves the stylus, the Phantom knows the position of the tip of the stylus and can generate forces which resist the user s motion when a virtual surface is encountered. Although there are some promising applications for active haptic feedback [21], the technology is still relatively primitive and expensive. I primarily focus on the information which the user s own manual movements provide for feedback during manipulation what one might call passive haptic feedback because the computer can t directly control or alter these sensations. ....

....Psychologist J. J. Gibson has long argued that information from a variety of feedback channels is crucial to human understanding of space [62] Chapter 4: Design Issues in Spatial Input 87 Brooks [19] discusses interfaces which employ multisensory feedback techniques, including force feedback [21][90] 120] space exclusion (collision detection) and supporting auditory feedback. I add physical manipulation of tools with mass to these techniques. For example, in our user interface lab [173] we have experimented with a virtual reality interface for positioning a virtual flashlight using a ....

[Article contains additional citation context not shown here]

Brooks, F., Ouh-Young, M., Batter, J., Kilpatrick, P., "Project GROPE--Haptic Displays for Scien-tific Visualization," Comp. Graph. 24 (4), 1990.

.... robotic teleoperation system for nuclear environments developed by Goertz at Argonne National Laboratories [14] Subsequently the group led by Brooks at the University of North Carolina at Chapel Hill adapted the same electromechanical arm to provide force feedback during virtual molecular docking [4]. Later Burdea and colleagues at Rutgers University developed a light and portable force feedback glove called the Rutgers Master [6] Commercial force feedback interfaces have subsequently appeared, such as the PHANToM arm in 1994 [23] the Impulse Engine in 1995 [18] and the CyberGrasp glove ....

....PHANToM Arm Impulse Engine Project GROPE CybeGrasp Glove CybeTouch Glove Touch Master FEELit Mouse Immersion Co. 16] Virtual Technologies [29] EXOS Co. 13] MIT Media Lab. 24] Virtual Technologies [29] Immersion Co. 18] SenseAble Co. 23] Rutgers University [6] UNC Chapel Hill. [4] Argonne Lab. 14] Figure 1: Abbreviated history of virtual tactile force feedback in the USA. adapted from [9] c # John Wiley Sons. Reprinted by permission. Table 1: PHANToM arm characteristics vs. model type Characteristics Standard Model Super Extended Resolution (mm) 0.03 0.02 ....

F. Brooks, M. Ouh-Young, J. Batter and A. Jerome, "Project GROPE - Haptic Displays for Scientific Visualization." Computer Graphics, Vol. 24, No. 4, pp. 177--185, 1990.

....is the relatively rich set of applications which have appeared in spite of the immature state of virtual reality technology. These include the Virtual Windtunnel (see figure 1) Bryson and Levit 1991] Bryson and Gerald Yamasaki 1992] and Virtual Spacetime [Bryson 1992b] Molecular modelling [Brooks et al. 1990], scanning tunnelling microscope display and control [Taylor et al. 1993] and medical visualization systems [i.e. Bajura et al. 1992] have been developed at the University of North Carolina at Chapel Hill. A system to investigate cosmic structure formation has been implemented at the National ....

....as to the state of the environment, sound can be used as an additional data display channel. Scalar quantities can be mapped to the frequency, timbre, or amplitude of a sound. 5. 4 Haptics Haptics has been applied to scientific visualization in virtual reality contexts in a few laboratory systems [Brooks et.al. 1990][Taylor et al. 1993] Iwata et al. 1993] The 2 18 effectiveness of the use of haptics in these research projects have indicated that haptics is a potentially useful data display channel. 6. Looking Towards the Future Scientific visualization is potentially a very fruitful application area for ....

F. P. Brooks Jr., M. Ouh-Young, J. J. Blatter, and P. J. Kilpatrick, "Project GROPE - Haptic Displays for Scientific Visualization", Computer Graphics: Proceedings of SIGGRAPH `90, Volume 24, Number 4, August 1990.

....many interesting results, a recent survey of which can be found in [10] Much of this research is concerned with geometric interaction, but several applications of haptics to scientific visualization are relevant to the development of our system. Early integrated systems include Project GROPE [3], the Nanomanipulator [17] and the Nanobench [8] These projects focused on rendering aspects of molecular dynamics, drug docking simulations, and real time interactions with a scanned probe microscope. An Argonne Remote Manipulator and a PHANToM were used as the haptic interfaces, and the visual ....

F. Brooks, M. Ouh-Young, J. Batter, and P. Kilpatrick. Project GROPE -- Haptic displays for scientific visualization. In Proc. ACM Siggraph, pages 177--185, 1990.

....(cues that humans use to judge motion and orientation in the natural world) Lee and Moray,1992) Auditory feedback An audible tone can be used to indicate when the user has successfully selected a virtual object has led to a two fold improvement in user performance over purely visual displays. (Brooks, 1990) Table 4 2 Operational Guidelines for Display Technologies 2 Date: February 2000 Advanced VR Research Centre Issue: 2 JTAP305FinalReport.doc Page 57 4.2 Enabling User Interaction Technology 4.2.1 Interaction in a Virtual Environment For a VR system to be useful, it is necessary to interact ....

Brooks, F.P.e.a., (1990), Project GROPE - haptic display for scientific visualisation, Proceedings , Dallas, TX;pp:177-85.

....of their great complexity but also because of our own personal experiences which make us discerning critics. There have been a number of papers on haptic rendering of non real virtual environments, such as the visualization of computational fluid dynamics data [1, 13] molecular interaction [2], or medical images [6] Figure 2) Because data visualization does not correspond to our personal experiences, it is much less clear what the goals of haptic interaction are or how an implementation is to be evaluated. In haptic visualization of computational fluid dynamics, the flow field maps ....

Brooks, F., Ouh-Young, M., Batter, J.J., and Kilpatrick, P.J., "Project GROPE -- haptic displays for scientific visualization," Computer Graphics, vol. 24, no. 4, pp. 177-185, 1990.

.... Page(s) Bibliography Ref(s) Manip1 Provide accurate depiction of location and orientation of surfaces 66 [Wickens and Baker, 1995] Manip2 Minimize display lag 67 [Wickens and Baker, 1995] Sturman et al. 1989] Manip3 Support multimodal interaction 67 [Wickens and Baker, 1995] [Brooks et al. 1990] Manip4 Provide spatially relevant and revealing user point of view 67 [Wickens and Baker, 1995] Mine et al. 1997] Manip5 Avoid non intuitive, unnatural, or poorly mapped gesturing 67 [Mapes and Moshell, 1995] Manip6 When using pinch gloves, keep in mind user experience when determining ....

.... et al. 1995] Haptic8 Use haptic devices to present high resolution force and position to users 152 [McNeely et al. 1995] Haptic9 Use haptic devices to provide reliable, intuitive, low fatigue operation 152 [McNeely et al. 1995] Haptic10 Support high bandwidth haptic interaction 152 [Brooks et al. 1990] [Hannaford and Venema, 1995] Haptic11 Be wary of complex, multi degrees of freedom haptic systems 152 [McNeely et al. 1995] Haptic12 Tactile displays need not provide incredibly high (spatial) resolution 153 [Kaczmarek and Bach YRita, 1995] Haptic13 Avoid simultaneous haptic ....

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Brooks, Jr., F. P., Ouh-Young, M., Batter, J. J., and Kilpatrick, P. J. (1990). Project grope --- haptic displays for scientific visualization. Computer Graphics, 24(4):177--185.

....actual user input device and because the visual mapping with the virtual tricorder is one to one, the user maps the tactile sensationreceived from the real device to the virtual tricorder. The haptic feedback thus relates to the sense of touch only and in particular does not provide force feedback [3]. Furthermore, the input device s inertia (caused by manipulating a real object with mass) intensifies the tactile sensation. Even though the tactile feedback provided is basic, it convincingly suggests the reality of the virtual tricorder. Also, mainly due to the inertial effects, the user feels ....

Frederick P. Brooks Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- haptic displays for scientific visualization. Computer Graphics (SIGGRAPH '90 Proceedings), 24(4):177--185, August 1990.

....techniques use haptics to browse and edit the dynamical system of an animation through direct manipulation. The encoding and editing of such systems as palpable vector fields appears to be novel. Previous research falls into a few broad categories. Fundamental work in haptics and force feedback [17, 4, 6, 22] has allowed devices such as the Phantom to be integrated with computer graphics. Most of this work is targeted for scientific visualization, or for the combined visual haptic display of complex virtualreality environments. Control systems and abstractions in this work have been important in ....

F. P. Brooks, Jr., M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick. Project GROPE --- haptic displays for scientific visualization. Computer Graphics, 24(4):177--185, Aug. 1990.

.... Early adopters of virtual reality (VR) systems soon realized that one of the immediately useful applications comes from the field of scientific visualization, where scientists try to understand complex data sets and can benefit from true 3D, stereoscopy, and interactive exploration, e.g. GROPE [Broo90], the nanomanipulator [Tayl93] and the virtual Windtunnel [Brys91] The need to support collaboration of human users lead in two directions: remote collaboration (e.g. Brys93] and collaborative virtual environments (VEs) where users come together in one place, and can interact and communicate ....

F. Brooks Jr. et. al.: Project GROPE - Haptic Displays for Scientific Visualisation. Proceedings of SIGGRAPH 90, pp 177-185, 1990.

....increases efficiency of various placing and manipulation tasks. Therefore many devices were developed: from the simplest ones like joysticks or desktop mice [Akam94] with kinesthetic feedback, through force simulation with help of tense strings [Ishi94a, Ishi94b] to the UNC GROPE project [Broo90]. All of them confirmed qualitative improvements of interaction it has been found out that haptic display together with visual one, can enhance the perception and understanding of natural phenomena like for example scalar or vector fields. The latest prototype of GROPE consists of a ....

....advantages. VIRTUAL REALITY HISTORY, APPLICATIONS, TECHNOLOGY AND FUTURE 48 (a) b) Figure 2.5.2.1. Force feedback hand masters: a) Master Manipulator (from [Iwat90] b) force feedback structure for the data glove (from [Burd92] Figure 2.5.2.2. GROPE III force feedback display (from [Broo90]) VIRTUAL REALITY HISTORY, APPLICATIONS, TECHNOLOGY AND FUTURE 49 Tactile feedback Tactile feedback is much more subtle than force feedback and therefore more difficult to generate artificially. The simulation may be achieved with the help of vibrating nodules, inflatable bubbles or ....

F. Brooks et. al.: Project GROPE - Haptic Displays for Scientific Visualization. Proceedings of SIGGRAPH'90, pp. 177-185 (1990)

....users. Compared to the presentation of visual and auditory information, methods for haptic display are not as well developed. Haptic rendering as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated in synthetic environments [6]. Algorithmic techniques and geometric engineering are required to integrate force feedback devices with 3D graphical display systems to offer new avenues toward promising advancement in haptic interaction with the virtual environments. Possible applications include rapid prototyping, interactive ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- Haptic displays for scientific visualization. In Forest Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, August 1990.

....Bond, Tribble, and Wilson (1977) described one early effort in this field. Force coupled master slave robots for teleoperation, which feed back the force at a remote robot arm (slave) to the master controller arm in a control room, has an even longer history in hazardous material handling. Brooks, OuhYong, Batter and Kilpatric (1990) applied such an approach to visual reality, in which the remote site In M. Angela Sasse Chris Johnson (Eds. Human Computer Interaction Proceedings of INTERACT 99, IOS Press, pp 383 390. was a data field in a 3D computer visual display rather than a hazardous environment in the physical ....

Brooks, F.P.J., Ouh-Yong, M., Batter, J.J., and Kilpatric, P.J. (1990). Project GROPE -- haptic display for scientific visualization. Computer Graphics, 24(4).

....perform the computational analog of such experiments to refine the accuracy of both experimental and computational techniques and to improve the understanding of forces and dynamics of the binding and dissociation processes. We are considering the use of a force feedback input modality in the PIT [5] to offer resistance proportional to the local temperature in the system to reflect the dissipation of work through friction. We are also examining the possibility for simultaneous steering of a simulation by both operators so that complex steering motions can be orchestrated. 6. Acknowledgments ....

F.P. Brooks et al., "Project GROPE -- Haptic Displays for Scientific Visualization", Computer Graphics, 24:177--185, 1990.

....some applications than others, they all are limited by human visual capabilities. In this paper, we discuss ideas for augmenting conventional visualization by using the unique capabilities of the hands (haptics) for manipulation and spatial sensing. The earliest example of this approach is perhaps [Brooks, et al., 1990], which used a telemanipulator to interact with data. We use a type of haptic interface that is specifically designed for dextrous, transparent interaction using sensitive grips in the fingers. Figure 1 shows the haptic visual interface in normal use. The visual component is a SGI ONYX Reality 2 ....

F. P. Brooks, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick, 1990. "Project GROPE--Haptic Displays for Scientific Visualization", Computer Graphics, 24(4).

....to rebuild the space time bounds with an updated value. ffl The general concept of docking is important in the real world. For example, engineers need to know how pilots can bring spacecraft together in flight, and chemists need to understand the way drug molecules fit into receptor sites [Turk90, Broo90]. Computer simulations allow users to gain insight into docking tasks, and these simulations should incorporate collision detection to provide the most realism. In these simulations, users directly manipulate objects with a mouse or some other input device. The simulation system might have ....

Brooks, Frederick P., Jr., Ming Ouh-Young, James J. Batter and P. Jerome Kilpatrick, "Project GROPE: Haptic Displays for Scientific Visualization", Proceedings of SIGGRAPH '90, published as Computer Graphics, Vol. 24, No. 4, August 1990, pp. 177--185.

.... bounds for free and constrained motion were established experimentally in [11] Brooks s group observed that the manipulator arm haptic interfaces they were using were marginally adequate and noted that mechanical backlash, static friction, and other motion problems were very troublesome [12]. In their experience, a haptic device using finger and hand motions rather than arm motions would be preferable. Minsky et al. developed a software environment which displayed texture to the hand through a joystick rather than simple contact with rigid surfaces [13] Examination of previous ....

F. Brooks, Jr., M. Ouh-Young, J. J. Batter, and P. Kilpatrick, "Project GROPE---haptic displays for scientific visualization," Computer Graphics, vol. 24(4), pp. 177--185, August, 1990.

....Compared to the presentation of visual and auditory information, methods for haptic display are not as well developed. Haptic rendering as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated in the synthetic environments [6]. It allows users to reach into virtual worlds with a sense of touch, so they can feel and manipulate simulated objects. Haptic display is often rendered through what is essentially a small robot arm, used in reverse. Such devices are now commercially available for a variety of configurations (2D, ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- Haptic displays for scientific visualization. In Forest Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, August 1990.

....effect of intelligence amplification : The most valuable result from using GROPE III for drug docking is probably the radically improved situation awareness that serious users report. Chemists say they have a new understanding of the details of the receptor site and its force fields, [5]. Generation of Haptic Cues For at least two reasons, haptic output should be integrated into the UI: first, the haptic modality complements the visual channel. Interactions will be more comfortable and intuitive if the interface s structure is presented both, graphically and haptically. Second, ....

F. P. Brooks, Jr. et al. Project GROPE - Haptic Displays for Scientific Visualization. In F. Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume

.... Early examples of haptic interface devices were generally backdriven serial robot manipulators that had disadvantages of mechanical friction and backlash, low bandwidth, and large bulk and weight as well as being difficult Figure 1: Using a Desktop Maglev Haptic Interface Device and tiring to use [1]. Much better performance has been obtained with parallel actuated devices using tensioned cables and or lightweight, smooth mechanical linkages [2, 3] An especially successful example of this type of device is the PHANToM from SensAble Devices, Inc [4] The PHANToM is limited to only three ....

F. Brooks, Jr., M. Ouh-Young, J. J. Batter, and P. Kilpatrick, "Project GROPE---haptic displays for scientific visualization," Computer Graphics, vol. 24(4), pp. 177--185, August, 1990.

.... should be constructed so that there is a match between sensory data ( what the eyes see ) and proprioceptive feedback ( what the body feels ) The typical approach is to either overload almost all forms of interaction onto a set of hand gestures or manipulations (Vaananen and Bohm, 1993; Brooks et al. 1990) or to use inappropriate methodology taken from screen based interfaces, such as menus and icons. We are reminded of a famous passage written by Marx: K. Marx: Men make their own history, but they do not make it just as they please; they do not make it under circumstances chosen by themselves, ....

Brooks, F.P. Jr, Ouh-Young Ming and J. Batter (1990) Project Grope - haptic displays for scientific visualization, Computer Graphics 24(4) 177-185.

....user s head and hand is not enough. In teleoperator systems measuring the position of the whole arm and hand enables the remote or virtual operator to be controlled in a way mirroring the motions of the user, the GROPE system at the University of North Carolina at Chapel Hill is a good example [BOYBK90] This technique can be extended to measuring the position of the whole upper body and creating a remote robot highly anthropomorphic in design such as the Green Man system [Utt89] More commonly we wish to measure the finger positions of the hand in detail, as this allows us a natural way of ....

....finger is restrained. Some systems such as GROPE the mechanism can provide forces of various magnitudes. This has proved useful in one of the major applications of GROPE, that of molecular docking where the force feedback gives a useful indication of the attraction between two molecules [Bro88, BOYBK90] There is evidence to suggest that performance improves significantly when force feedback and compliance cues are provided [DZW 92] On a smaller scale, to provide a sense of touch, we need to replace the basic glove with one that can provide some tactile feedback. One device that can be ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- haptic displays for scientific visualisation. Computer Graphics, 24(4):177--185, March 1990.

....of data, e.g. simultaneous pressure, flow velocity, and temperature in fluid dynamics problems. These data do not have direct physical analogs in human manipulation involving touch, force, and motion sensations. Efforts have been made to use a large telemanipulator to convey atomic bond strengths [2] as well as haptic sensation of air jets on the hand to convey fluid flow direction [20] Other means of conveying such data via cooperative use of visual haptic interfaces are just beginning to be discovered and their perceptive value is still largely unquantified. Research in fundamental ....

F. P. Brooks, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick. "Project GROPE--Haptic Displays for Scientific Visualization", Computer Graphics, 24(4), 1990.

.... these developments is how the typical computer user can benefit from them in everyday applications, i.e. how standard GUIs can be extended to bi or even multimodal UIs (right part of Figure 1) Although tactile and force feedback alone have been addressed by a number of researchers (see, e.g. [1, 2, 3, 4, 5]) their effect in standard interaction tasks has not been investigated in depth, and most evaluations are based on very small data sets only. In addition, haptic displays are usually not available for the common user: Whereas synthetic visual and audio images are omnipresent nowadays, ....

F. P. Brooks, Jr. et al. Project GROPE - Haptic Displays for Scientific Visualization. In F. Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, Dallas, TX, August 1990. ACM.

....between the hand (as represented by a DataGlove) and the Utah MIT Dextrous Hand. Interaction Visualisation 3D visualisation of and interaction with scientific models has been one of the driving problems in this field. Most significant of the scientific visualisation research is project GROPE [4] at University of North Carolina. Since 1967, Brooks and Ooh Young have been working on a project to develop a tactile and visually interactive display for the 6D force fields of interacting protein molecules. The tactile simulation is explored using a handgrip connected to the Argonne Remote ....

Frederick P. Brooks et al. Project grope---haptic displays for scientific visualisation. ACM Computer Graphics, pages 177--185, 1990.

....email macauley hera.psy.man.ac. uk tel 44 (0) 61 275 2585 fax 44 (0) 61 275 2588 Human perception and sensori motor activity can be investigated using virtual reality (VR) systems which feature computer generated environments and virtual objects (Foley, 1987; Ellis, Kaiser and Grunwald, 1989; Brooks et al. 1990; Iwata, 1990) Subjects can explore phenomenal properties of these simulated threedimensional (3D) environments, and objects within them, with the aid of suitable interface devices such as a head mounted display (HMD) and wired clothing (e.g. VPL s DataGlove) Similarly, a six degrees of freedom ....

Brooks, F. P., Ouh-Young, M. Batter, J. J. & Kilpatrick, P. J. (1990) Project GROPE - Haptic Displays for Scientific Visualization.

....display of information, enhancing our understanding of complex structures, and increasing the level of immersion in a virtual environment. They have been shown to be an effective means of human system communication for several scientific and engineering applications, including molecular docking [3], surgical training [7] virtual prototyping [14] and manipulation of nano materials [22] In this paper, we examine their use in providing a natural, intuitive user interface for engaging in creative processes with computer systems. By creative process, we refer to any activity that involves ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- Haptic displays for scientific visualization. Computer Graphics (SIGGRAPH '90 Proceedings) , volume 24, pages 177--185, 1990.

....to the presentation of visual and auditory information, methods for haptic display have not been sufficiently developed. Haptic rendering as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated in the synthetic environments [6]. It allows users to reach into virtual worlds with their hands, so they can touch, feel, grasp, and manipulate simulated objects. Haptic display is often rendered through what is essentially a small robot arm, used in reverse. Such devices are now commercially available for a variety of ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- Haptic displays for scientific visualization. In Forest Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, August 1990.

....our motivation and goals in designing the PIT workspace, the design and fabrication of the hardware and software components, and initial user testing. Motivation and design goals The PIT display system is the most recent of a series of displays used by the GRIP molecular graphics project at UNC [Brooks et al. 1990]. While we intend for the PIT to be generally applicable to other application domains, our initial use is in molecular graphics applications such as protein fitting. The PIT design is motivated by observations gathered over the years by collaborating with biochemists to develop molecular graphics ....

Brooks, F. P., Jr., M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick. "Project GROPE: Haptic displays for scientific visualization," Proceedings of SIGGRAPH 90, Computer Graphics, August 1990, Dallas, TX, pp. 177-185.

....In cases where the user has to interact with the virtual environment through a sense of touch (e.g. a mechanic trying to remove a virtual part from a virtual engine) haptic display appears to be the only means of humancomputer interaction. In many other cases (e.g. molecular graphics [BOYBK90] force display can provide additional means to visualize complex systems or environments. As overall scenes become more complex, the type of contact scenarios do not necessarily become more complex, since the contact configuration in most cases is only local to the region of impact. In fact, ....

Frederick P. Brooks, Jr., Ming Ouh-Young, James J. Batter, and P. Jerome Kilpatrick. Project GROPE --- Haptic displays for scientific visualization. In Forest Baskett, editor, Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, August 1990.

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F. P. Brooks, Jr. et al. Project GROPE - Haptic Displays for Scientific Visualization. ACM Computer Graphics, 24(4):177--185, Aug. 1990.

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Brooks, F. P., Ouh-Young, J. M. et al. (1990) "Project GROPE-- Haptic Displays for Scientific Visualization." Computer Graphics 24(4): 177-185.

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F. P. Brooks, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick. Project GROPE -- Haptic Displays for Scientific Visualization. In Proc. ACM SIGGRAPH, pages 177--185, Dallas, TX, Aug. 1990.

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F. Brooks, M. Ouh-Young, J.J. Batter, and P.J. Kilpatrick. Project GROPE - haptic displays for scientific visualization. Computer Graphics, 24(4):177--185, 1990.

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Frederick P. Brooks Jr., Ming Ouh-Young, James J. Batter, and P. Jerome. Project GROPE - haptic displays for scientific visualization. Computer Graphics, 24(4):177--185, August 1990.

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F. Brooks, M. Ouh-Young, J.J. Batter, and P.J. Kilpatrick. Project GROPE - haptic displays for scientific visualization. Computer Graphics, 24(4):177--185, 1990.

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Brooks, F.P. Jr., Ming, O-Y, Batter, J.J., Kilpatrick, P.J. (1990). Project GROPE: Haptic displays for scientific visualization. Computer graphics, 24, (4), 177-185.

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F.P. Brooks. Project GROPE -- Haptic displays for scientific visualization. In Computer Graphics (SIGGRAPH '90 Proceedings), volume 24, pages 177--185, 1990.

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F. P. Brooks, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick. Project grope haptic displays for scientific visualization. ACM SIGGRAPH Computer Graphics, Conference proceedings on Computer graphics, 24(4):177--185, September 1990.

No context found.

EP. Brooks Jr. et al., "Project GROPE--Haptic Displays for Scientific Visualization," Computer Graphics, Vol. 24, 1990, pp. 177-185.

No context found.

F.P. Brooks Jr. et al., "Project GROPE Haptic Displays for Scientific Visualization," Computer Graphics, Vol. 24, 1990, pp. 177-185.

No context found.

F. Brooks Jr, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick, "Project GROPE - haptic displays for scientific visualization," Proceedings of SIGGRAPH'90 24(4), pp. 177--185, 1990.

No context found.

F. Brooks Jr, M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick, "Project GROPE - haptic displays for scientific visualization," Proceedings of SIGGRAPH'90 24(4), pp. 177--185, 1990.

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