DOI: 10.1145/97880.97899. Project GROPEHaptic displays for scientific visualization

Project GROPEHaptic displays for scientific visualization

10.1145/97880.97899

Crossref journal-article

Association for Computing Machinery (ACM)

ACM SIGGRAPH Computer Graphics (320)

Abstract

We began in 1967 a project to develop a haptic+display for 6-D force fields of interacting protein molecules. We approached it in four stages: a 2-D system, a 3-D system tested with a simple task, a 6-D system tested with a simple task, and a full 6-D molecular docking system, our initial goal. This paper summarizes the entire project---the four systems, the evaluation experiments, the results, and our observations. The molecular docking system results are new.Our principal conclusions are:&bull; Haptic display as an augmentation to visual display can improve perception and understanding both of force fields and of world models populated with impenetrable objects.&bull; Whereas man-machine systems can outperform computer-only systems by orders of magnitude on some problems, haptic-augmented interactive systems seem to give about a two-fold performance improvement over purely graphical interactive systems. Better technology may give somewhat more, but a ten-fold improvement does not seem to be in the cards.&bull; Chemists using GROPE-III can readily reproduce the true docking positions for drugs whose docking is known (but not to them) and can find very good docks for drugs whose true docks are unknown. The present tool promises to yield new chemistry research results; it is being actively used by research chemists.&bull; The most valuable result from using GROPE-III for drug docking is probably the radically improved situation awareness that serious users report. Chemists say they have a new understanding of the details of the receptor site and its force fields, and of why a particular drug docks well or poorly.&bull; We see various scientific/education applications for haptic displays but believe entertainment, not scientific visualization, will drive and pace the technology.&bull; The hardware-software system technology we have used is barely adequate, and our experience sets priorities for future development.&bull; Some unexpected perceptual phenomena were observed. All of these worked for us, not against us.

Bibliography

Brooks, F. P., Ouh-Young, M., Batter, J. J., & Jerome Kilpatrick, P. (1990). Project GROPEHaptic displays for scientific visualization. ACM SIGGRAPH Computer Graphics, 24(4), 177â185.

Authors 4

Frederick P. Brooks (first)
Ming Ouh-Young (additional)
James J. Batter (additional)
P. Jerome Kilpatrick (additional)

References 23 Referenced 290

Batter , J.J. and Brooks , F.P. , Jr . GROPE-I: A computer display to the sense of feel. Information Processing , Proc. 1FIP Congress 71 ,759-763.]] Batter, J.J. and Brooks, F.P., Jr. GROPE-I: A computer display to the sense of feel. Information Processing, Proc. 1FIP Congress 71,759-763.]] / Proc. 1FIP Congress 71 by Batter J.J.
10.1126/science.208.4450.1327
Brooks , F.P. , Jr . The computer scientist as toolsmith: Studies in interactive computer graphics . In Information Processing 77 , 625 - 634 . B. Gilchrist, ed. North-Holland: Amsterdam, 1977.]] Brooks, F.P., Jr. The computer scientist as toolsmith: Studies in interactive computer graphics. In Information Processing 77, 625- 634. B. Gilchrist, ed. North-Holland: Amsterdam, 1977.]] / Information Processing / The computer scientist as toolsmith: Studies in interactive computer graphics by Brooks F.P.
10.1145/57167.57168
10.1126/science.6879170
10.1145/54852.378535
Goertz , R.C. et al. The ANL Model 3 master slave manipulators-Its design and use in a cave . Proc. of the Ninth Conference on Hot Laboratories and Equipment, Washington, D.C., United States Atomic Energy Commission , 1961 .]] Goertz, R.C. et al. The ANL Model 3 master slave manipulators-Its design and use in a cave. Proc. of the Ninth Conference on Hot Laboratories and Equipment, Washington, D.C., United States Atomic Energy Commission, 1961.]] / Proc. of the Ninth Conference on Hot Laboratories and Equipment, Washington, D.C., United States Atomic Energy Commission by Goertz R.C. (1961)
Gregory , R.L. Eye and Brain. 2nded . McGraw- Hill: New York , 1973 .]] Gregory, R.L. Eye and Brain. 2nded. McGraw- Hill: New York, 1973.]] / McGraw- Hill: New York by Gregory R.L. (1973)
Hill , J.W. and Salisbury , J.K. , Jr . Two measures of performance in a peg-in-hole manipulation task with force feedback. Paper presented at Thirteenth Annual Conference on Manual Control , MIT (June 15-17 , 1977 ).]] Hill, J.W. and Salisbury, J.K., Jr. Two measures of performance in a peg-in-hole manipulation task with force feedback. Paper presented at Thirteenth Annual Conference on Manual Control, MIT (June 15-17, 1977).]] / MIT (June 15-17 by Hill J.W. (1977)
Hill , J.W. and Salisbury , J.K. , Jr . Study to design and develop remote manipulator system . Quarterly Reports 5 , 6 ( January 1978 ). Stanford Research Institute, Menlo Park, CA.]] Hill, J.W. and Salisbury, J.K., Jr. Study to design and develop remote manipulator system. Quarterly Reports 5, 6 (January 1978). Stanford Research Institute, Menlo Park, CA.]] / Quarterly Reports / Study to design and develop remote manipulator system by Hill J.W. (1978)
Hogan , N. Stable execution of contact tasks using impedance control . Proceedings of lEEE Robotics and Automation Conference, Raleigh, NC (t 987) , 1047 - 1054 .]] Hogan, N. Stable execution of contact tasks using impedance control. Proceedings of lEEE Robotics and Automation Conference, Raleigh, NC (t 987), 1047-1054.]] / Proceedings of lEEE Robotics and Automation Conference, Raleigh, NC (t 987) by Hogan N.
Kuyper L. Receptor-based design of Dihydrofolate Reductase inhibitors: Comparison of crystallographically determined enzyme binding with enzyme affinity in a series of carboxy-substituted Trimethoprim analogues." J. Med. Chem.. 1122 25 (1982) 1120- 1124.]] Kuyper L. Receptor-based design of Dihydrofolate Reductase inhibitors: Comparison of crystallographically determined enzyme binding with enzyme affinity in a series of carboxy-substituted Trimethoprim analogues." J. Med. Chem.. 1122 25 (1982) 1120- 1124.]] (10.1021/jm00352a002)
McCormick , B.H. , DeFanti , T.A. , Brown , M.D. , eds. Visualization in scientific computing . Computer Graphics 21 , 6 ( Nov. 1987 ), and SIGGRAPH Video Review, Issues 28-29 (Nov. 1987).]] McCormick, B.H., DeFanti, T.A., Brown, M.D., eds. Visualization in scientific computing. Computer Graphics 21, 6 (Nov. 1987), and SIGGRAPH Video Review, Issues 28-29 (Nov. 1987).]] / Computer Graphics / Visualization in scientific computing by McCormick B.H. (1987)
10.1145/91385.91451
Mowbray , G. H. and Gebhard , J. W . Man's senses as information channels . In H.W. Sinaiko, ed. Selected Papers on Human Factors in the Design and Use of Control Systems . Dover : New York , 1961 . p. 118.]] Mowbray, G. H. and Gebhard, J. W. Man's senses as information channels. In H.W. Sinaiko, ed. Selected Papers on Human Factors in the Design and Use of Control Systems. Dover: New York, 1961. p. 118.]] / Selected Papers on Human Factors in the Design and Use of Control Systems by Mowbray G. H. (1961)
10.1109/ROBOT.1988.12330
Ouh-Young , M. , Beard , D.V. , Brooks , F.P., Jr. Force display performs better than visual display in a simple 6-D docking task . Proc. IEEE International Conference on Robotics and Automation (Arizona , May 1989 ), 1462 - 1466 .]] Ouh-Young, M., Beard, D.V., Brooks, F.P., Jr. Force display performs better than visual display in a simple 6-D docking task. Proc. IEEE International Conference on Robotics and Automation (Arizona, May 1989), 1462-1466.]] / Proc. IEEE International Conference on Robotics and Automation (Arizona by Ouh-Young M. (1989)
10.1002/jcc.540060510
10.1109/ROBOT.1988.12116
Sutherland , I.E. The ultimate display. Information Processing 1965 , Proc. IFIP Congress 65 , 506 - 508 .]] Sutherland, I.E. The ultimate display. Information Processing 1965, Proc. IFIP Congress 65, 506-508.]] / Proc. IFIP Congress 65 by Sutherland I.E.
10.2307/1414396
10.2307/1415113
Webster's New International Dictionary . 2 nd ed. Merriam: Springfield, MA.]] Webster's New International Dictionary. 2nd ed. Merriam: Springfield, MA.]] / Merriam: Springfield, MA.]] by Webster's New International Dictionary

Dates

Type	When
Created	19 years, 9 months ago (Nov. 16, 2005, 9:47 a.m.)
Deposited	2 months, 1 week ago (June 18, 2025, 5:38 p.m.)
Indexed	1 month, 3 weeks ago (July 7, 2025, 4:24 a.m.)
Issued	35 years ago (Sept. 1, 1990)
Published	35 years ago (Sept. 1, 1990)
Published Online	35 years ago (Sept. 1, 1990)
Published Print	35 years ago (Sept. 1, 1990)

Funders 0

None

BibTeX

@article{Brooks_1990, title={Project GROPEHaptic displays for scientific visualization}, volume={24}, ISSN={0097-8930}, url={http://dx.doi.org/10.1145/97880.97899}, DOI={10.1145/97880.97899}, number={4}, journal={ACM SIGGRAPH Computer Graphics}, publisher={Association for Computing Machinery (ACM)}, author={Brooks, Frederick P. and Ouh-Young, Ming and Batter, James J. and Jerome Kilpatrick, P.}, year={1990}, month=sep, pages={177–185} }

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