94 research outputs found
Advancing proxy-based haptic feedback in virtual reality
This thesis advances haptic feedback for Virtual Reality (VR). Our work is guided by Sutherland's 1965 vision of the ultimate display, which calls for VR systems to control the existence of matter. To push towards this vision, we build upon proxy-based haptic feedback, a technique characterized by the use of passive tangible props. The goal of this thesis is to tackle the central drawback of this approach, namely, its inflexibility, which yet hinders it to fulfill the vision of the ultimate display. Guided by four research questions, we first showcase the applicability of proxy-based VR haptics by employing the technique for data exploration. We then extend the VR system's control over users' haptic impressions in three steps. First, we contribute the class of Dynamic Passive Haptic Feedback (DPHF) alongside two novel concepts for conveying kinesthetic properties, like virtual weight and shape, through weight-shifting and drag-changing proxies. Conceptually orthogonal to this, we study how visual-haptic illusions can be leveraged to unnoticeably redirect the user's hand when reaching towards props. Here, we contribute a novel perception-inspired algorithm for Body Warping-based Hand Redirection (HR), an open-source framework for HR, and psychophysical insights. The thesis concludes by proving that the combination of DPHF and HR can outperform the individual techniques in terms of the achievable flexibility of the proxy-based haptic feedback.Diese Arbeit widmet sich haptischem Feedback fĂŒr Virtual Reality (VR) und ist inspiriert von Sutherlands Vision des ultimativen Displays, welche VR-Systemen die FĂ€higkeit zuschreibt, Materie kontrollieren zu können. Um dieser Vision nĂ€her zu kommen, baut die Arbeit auf dem Konzept proxy-basierter Haptik auf, bei der haptische EindrĂŒcke durch anfassbare Requisiten vermittelt werden. Ziel ist es, diesem Ansatz die fĂŒr die Realisierung eines ultimativen Displays nötige FlexibilitĂ€t zu verleihen. Dazu bearbeiten wir vier Forschungsfragen und zeigen zunĂ€chst die Anwendbarkeit proxy-basierter Haptik durch den Einsatz der Technik zur Datenexploration. AnschlieĂend untersuchen wir in drei Schritten, wie VR-Systeme mehr Kontrolle ĂŒber haptische EindrĂŒcke von Nutzern erhalten können. Hierzu stellen wir Dynamic Passive Haptic Feedback (DPHF) vor, sowie zwei Verfahren, die kinĂ€sthetische EindrĂŒcke wie virtuelles Gewicht und Form durch Gewichtsverlagerung und VerĂ€nderung des Luftwiderstandes von Requisiten vermitteln. ZusĂ€tzlich untersuchen wir, wie visuell-haptische Illusionen die Hand des Nutzers beim Greifen nach Requisiten unbemerkt umlenken können. Dabei stellen wir einen neuen Algorithmus zur Body Warping-based Hand Redirection (HR), ein Open-Source-Framework, sowie psychophysische Erkenntnisse vor. AbschlieĂend zeigen wir, dass die Kombination von DPHF und HR proxy-basierte Haptik noch flexibler machen kann, als es die einzelnen Techniken alleine können
Handheld Haptic Device with Coupled Bidirectional Input
Handheld kinesthetic haptic interfaces can provide greater mobility and
richer tactile information as compared to traditional grounded devices. In this
paper, we introduce a new handheld haptic interface which takes input using
bidirectional coupled finger flexion. We present the device design motivation
and design details and experimentally evaluate its performance in terms of
transparency and rendering bandwidth using a handheld prototype device. In
addition, we assess the device's functional performance through a user study
comparing the proposed device to a commonly used grounded input device in a set
of targeting and tracking tasks.Comment: 7 pages, 7 figures, World Haptics Conference 2023 Preprin
A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools
International audienc
CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR
We present CoVR, a novel robotic interface providing strong kinesthetic
feedback (100 N) in a room-scale VR arena. It consists of a physical column
mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of
(1) resisting to body-scaled users' actions such as pushing or leaning; (2)
acting on the users by pulling or transporting them as well as (3) carrying
multiple potentially heavy objects (up to 80kg) that users can freely
manipulate or make interact with each other. We describe its implementation and
define a trajectory generation algorithm based on a novel user intention model
to support non-deterministic scenarios, where the users are free to interact
with any virtual object of interest with no regards to the scenarios' progress.
A technical evaluation and a user study demonstrate the feasibility and
usability of CoVR, as well as the relevance of whole-body interactions
involving strong forces, such as being pulled through or transported.Comment: 10 pages (without references), 14 pages tota
Docking Haptics: Extending the Reach of Haptics by Dynamic Combinations of Grounded and Worn Devices
Grounded haptic devices can provide a variety of forces but have limited
working volumes. Wearable haptic devices operate over a large volume but are
relatively restricted in the types of stimuli they can generate. We propose the
concept of docking haptics, in which different types of haptic devices are
dynamically docked at run time. This creates a hybrid system, where the
potential feedback depends on the user's location. We show a prototype docking
haptic workspace, combining a grounded six degree-of-freedom force feedback arm
with a hand exoskeleton. We are able to create the sensation of weight on the
hand when it is within reach of the grounded device, but away from the grounded
device, hand-referenced force feedback is still available. A user study
demonstrates that users can successfully discriminate weight when using docking
haptics, but not with the exoskeleton alone. Such hybrid systems would be able
to change configuration further, for example docking two grounded devices to a
hand in order to deliver twice the force, or extend the working volume. We
suggest that the docking haptics concept can thus extend the practical utility
of haptics in user interfaces
Doctor of Philosophy
dissertationVirtual reality is becoming a common technology with applications in fields such as medical training, product development, and entertainment. Providing haptic (sense of touch) information along with visual and audio information can create an immersive vi
Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives
In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand
Haptics in Robot-Assisted Surgery: Challenges and Benefits
Robotic surgery is transforming the current surgical practice, not only by improving the conventional surgical methods but also by introducing innovative robot-enhanced approaches that broaden the capabilities of clinicians. Being mainly of man-machine collaborative type, surgical robots are seen as media that transfer pre- and intra-operative information to the operator and reproduce his/her motion, with appropriate filtering, scaling, or limitation, to physically interact with the patient. The field, however, is far from maturity and, more critically, is still a subject of controversy in medical communities. Limited or absent haptic feedback is reputed to be among reasons that impede further spread of surgical robots. In this paper objectives and challenges of deploying haptic technologies in surgical robotics is discussed and a systematic review is performed on works that have studied the effects of providing haptic information to the users in major branches of robotic surgery. It has been tried to encompass both classical works and the state of the art approaches, aiming at delivering a comprehensive and balanced survey both for researchers starting their work in this field and for the experts
A Systematic Review of Weight Perception in Virtual Reality: Techniques, Challenges, and Road Ahead
Weight is perceived through the combination of multiple sensory systems, and a wide range of factors â including touch, visual, and force senses â can influence the perception of heaviness. There have been remarkable advancements in the development of haptic interfaces throughout the years. However, a number of challenges limit the progression to enable humans to sense the weight in virtual reality (VR). This article presents an overview of the factors that influence how weight is perceived and the phenomenon that contributes to various types of weight illusions. A systematic review has been undertaken to assess the development of weight perception in VR, underlying haptic technology that renders the mass of a virtual object, and the creation of weight perception through pseudo-haptic. We summarize the approaches from the perspective of haptic and pseudo-haptic cues that exhibit the sense of weight such as force, skin deformation, vibration, inertia, controlâdisplay ratio, velocity, body gestures, and audioâvisual representation. The design challenges are underlined, and research gaps are discussed, including accuracy and precision, weight discrimination, heavyweight rendering, and absolute weight simulation. This article is anticipated to aid in the development of more realistic weight perception in VR and stimulated new research interest in this topic
- âŠ