Design of multi-actuator haptic devices and rendering methods for navigation and virtual interactions

Defended on december 13th 2024 as part of the RAINBOW team @ Irisa

Jury members:

• Jan van Erp, Full Professor, University of Twente, Pays-Bas (Reviewer)
• Thomas Pietrzak, Professeur des Universités, Université de Lille, France (Reviewer)
• Christophe Jouffrais, Directeur de Recherche CNRS, France (Examiner)
• Maud Marchal, Professeure des Universités, INSA Rennes, IUF (Director)
• Marie Babel, Professeure des Universités, INSA Rennes (Director)
• Claudio Pacchierotti, Chargé de recherche CNRS, IRISA, Rennes (Supervisor)

Abstract :

Navigating complex or unfamiliar environments presents daily challenges, particularly for individuals with disabilities. Haptic devices offer a promising solution by providing sensory feedback for safe and efficient navigation. In order to provide more rich and intuitive information through haptic feedback, this thesis explores the design and use of handheld multi-actuator haptic devices, in particular to display localized vibration sensations. We first explored the sensations that such devices could provide through the design of prototypes in virtual reality. Doing so, we also investigated the use and relevance of localized haptic sensations for VR interactions. We then looked into the design of a multi-actuator haptic handle, using 3D printing of flexible materials to isolate the different vibration sources. This handle and the localized sensations it provides were then used to communicate various navigational information about the user’s environment and destination. Finally, we investigated the use of this handle in combination with a power wheelchair, concluding our work with a pilot study involving regular power wheelchair users. This thesis therefore opens up perspectives for the design, and perhaps future use, of new navigation assistance devices.