A platform for bimanual virtual assembly training with haptic feedback in large multi-object environments

We present a virtual reality platform which addresses and integrates some of the currently challenging research topics in the field of virtual assembly: realistic and practical scenarios with several complex geometries, bimanual six-DoF haptic interaction for hands and arms, and intuitive navigation in large workspaces. We put an especial focus on our collision computation framework, which is able to display stiff and stable forces in 1 kHz using a combination of penalty- and constraint-based haptic rendering methods. Interaction with multiple arbitrary geometries is supported in realtime simulations, as well as several interfaces, allowing for collaborative training experiences. Performance results for an exemplary car assembly sequence which show the readiness of the system are provided.