Thor's Hammer: An Ungrounded Force Feedback Device Utilizing Propeller-Induced Propulsive Force

摘要

We present Thor's Hammer - an ungrounded force feedback device. Thor's Hammer consists of a cube-shaped structure and a handle. To generate 3-DOF force feedback, six motors and propellers installed on the cube project air in six directions that are normal to each face of the cube-shaped structure. Tracked in 6-DOF by an optical tracking system, Thor's Hammer can also create strong and continuous force feedback in any direction regardless of the device's orientation. We present four virtual reality applications to demonstrate beneficial uses of the force feedback provided by Thor's Hammer.