Swindells, C., Unden, A., Sang, T. (2003). "TorqueBAR: An Ungrounded Haptic Feedback Device", in Proceedings of the International Conference on Multimodal Interfaces (ICMI 2003), ACM Press, Nov. 5-7, Vancouver, BC.
Kinesthetic feedback is a key mechanism by which people perceive object properties during their daily tasks – particularly inertial properties. For example, transporting a glass of water without spilling, or dynamically positioning a handheld tool such as a hammer, both require inertial kinesthetic feedback. We describe a prototype for a novel ungrounded haptic feedback device, the TorqueBAR, that exploits a kinesthetic awareness of dynamic inertia to simulate complex coupled motion as both a display and input device. As a user tilts the TorqueBAR to sense and control computer programmed stimuli, the TorqueBAR’s centre-of-mass changes in real-time according to the user’s actions. We evaluate the TorqueBAR using both quantitative and qualitative techniques, and we describe possible applications for the device such as video games and real-time robot navigation.