Date: Mon, 14 Apr 1997 18:55:02 -0700 (PDT)
From: CS Anonymous FTP <ftp@kohler.CS.Berkeley.EDU>
Message-Id: <199704150155.SAA20601@kohler.CS.Berkeley.EDU>
To: ddgarcia@cs.Berkeley.EDU
Subject: WWW form from tiramisu.cs.berkeley.edu

PROJECT_STATUS01_NAME1=Jordan Smith
PROJECT_STATUS02_NAME2=Richard Davis
PROJECT_STATUS03_NAME3=
PROJECT_STATUS04_TITLE=Inverse Kinematic Arm Model for presence in VE's
 
PROJECT_STATUS05_DESCR=We are creating an inverse kinematic model of a human arm to 
help provide a feeling of presence in an immersive 
environment.  We will use this in a system with a head 
mounted display where there is no way for a user to visually
sense the position of their arm versus the objects in the 
virtual environment.  We will use Polhemus sensors mounted 
on the head for viewing, and 1 to 3 sensors on the arm to
model the orientation of the user's arm in the VE.  We will
try out three different configurations.  The first will use
one sensor, and display a free floating hand.  The second 
will also use one sensor, and will display a arm representation
oriented by solving the inverse kinematics of the one
end effector.  The third test will use three sensors attached
to the arm to take direct measurements of the different 
linkage orientations.  

We are not sure what the actual test environment will be.
We will choose either a one-handed juggling simulation or
a simple block builder. 
PROJECT_STATUS06_WDONE=We have modelled the inverse kinematics of a six degree of 
freedom arm (this ignores one dof of the wrist joint).  We
have interfaced with code that polls the Polhemus sensor, and
we have used this data to orient camera's view of the scene.
This is not fully debugged; we need to fix our data frame to
world frame transform.  We have this running on Ted Blackmon's
machine vr.berkeley.edu.  We know how to send monocular 
output to the HMD's, and we have been investigating 
how to get stereo output to the HMD's.  We have information
on how to do this on PC's.
PROJECT_STATUS07_INPUT=Mouse\0Polhemus
PROJECT_STATUS08_OUTPT=Monitor\0Virtual IO+Sony+Polhemus
PROJECT_STATUS09_SYSTM=Other
PROJECT_STATUS10_DEADL=We hope to get the arm moving around in space controlled by
the Polhemus sensors.
PROJECT_STATUS11_URL..=http://www.cs.berkeley.edu/~jordans/classes/vr
PROJECT_STATUS12_QUEST=We are using OpenGL/C++ for our software development.  Our
program currently has a Xlib/Motif interface, but we are 
moving to a Tcl/Tk interface to make our UI's more flexible
and to make the project more portable.