By Brian Gleeson and Diane Tam.
Realized during the Sketching Haptics Workshop @ UBC during August 2011.
The Virtual Ball-in-a-Box (Figure 1) provides a haptic and audio simulation of a ball rolling freely within a box, inspired by a similar 1-DOF device by Yao and Hayward (Hayward., 2006). The devices is designed to be held in both hands and responds to tiling by producing vibration and sound that simulates a ball rolling freely within a box. By default, the simulation represents the actual physical dimensions of the box, but the user may alter the size of the simulated box by pressing button on a table-mounted panel. Altering the size of the virtual box produces a conflict between the visually perceived size of the box and the size perceived through haptic exploration with the virtual rolling ball.
The device consists of a cardboard box instrumented with a 3-axis accelerometer and equipped with a haptuator for haptic and audio display (Figure 2). The system in controlled by an Arduino Uno that processes accelerometer input, models the behavior of the virtual ball, and controls the haptuator. The physics simulation used to model the virtual ball was adapted from the previous work of Yao and Hayward (Hayward., 2006). Output from the accelerometer was filtered to remove the high-frequency acceleration signal generated by the haptuator. A 15 W Class-D audio amplifier by Sure Electronics amplified control signal between the Arduino and the haptuator.
See supporting documents for a circuit schematic and control code.