Haptic-GeoZui3D: Exploring the Use of Haptics in AUV Path Planning

We have developed a desktop virtual reality system that we call Haptic-GeoZui3D, which brings together 3D user interaction and visualization to provide a compelling environment for AUV path planning. A key component in our system is the PHANTOM haptic device (SensAble Technologies, Inc.), which affords a sense of touch and force feedback – haptics – to provide cues and constraints to guide the user’s interaction. This paper describes our system, and how we use haptics to significantly augment our ability to lay out a vehicle path. We show how our system works well for quickly defining simple waypoint-towaypoint (e.g. transit) path segments, and illustrate how it could be used in specifying more complex, highly segmented (e.g. lawnmower survey) paths

Enhancing Physical Objects with Actuated Levitating Particles

We describe a novel display concept where levitating particles are used to add a dynamic display element to static physical objects. The particles are actuated using ultrasound, for expressive output without mechanical constraints. We explore novel ways of using particles to add dynamic output to other objects, for new interactive experiences. We also discuss the practical challenges of combining these. This work shows how the unique capabilities of levitation can create novel displays by enhancing another form of media

Opportunities and challenges for data physicalization

Physical representations of data have existed for thousands of years. Yet it is now that advances in digital fabrication, actuated tangible interfaces, and shape-changing displays are spurring an emerging area of research that we call Data Physicalization. It aims to help people explore, understand, and communicate data using computer-supported physical data representations. We call these representations physicalizations, analogously to visualizations -- their purely visual counterpart. In this article, we go beyond the focused research questions addressed so far by delineating the research area, synthesizing its open challenges and laying out a research agenda

Improving spatial orientation in virtual reality with leaning-based interfaces

Advancement in technology has made Virtual Reality (VR) increasingly portable, affordable and accessible to a broad audience. However, large scale VR locomotion still faces major challenges in the form of spatial disorientation and motion sickness. While spatial updating is automatic and even obligatory in real world walking, using VR controllers to travel can cause disorientation. This dissertation presents two experiments that explore ways of improving spatial updating and spatial orientation in VR locomotion while minimizing cybersickness. In the first study, we compared a hand-held controller with HeadJoystick, a leaning-based interface, in a 3D navigational search task. The results showed that leaning-based interface helped participant spatially update more effectively than when using the controller. In the second study, we designed a "HyperJump" locomotion paradigm which allows to travel faster while limiting its optical flow. Not having any optical flow (as in traditional teleport paradigms) has been shown to help reduce cybersickness, but can also cause disorientation. By interlacing continuous locomotion with teleportation we showed that user can travel faster without compromising spatial updating

Sketched Reality: Sketching Bi-Directional Interactions Between Virtual and Physical Worlds with AR and Actuated Tangible UI

This paper introduces Sketched Reality, an approach that combines AR sketching and actuated tangible user interfaces (TUI) for bidirectional sketching interaction. Bi-directional sketching enables virtual sketches and physical objects to "affect" each other through physical actuation and digital computation. In the existing AR sketching, the relationship between virtual and physical worlds is only one-directional -- while physical interaction can affect virtual sketches, virtual sketches have no return effect on the physical objects or environment. In contrast, bi-directional sketching interaction allows the seamless coupling between sketches and actuated TUIs. In this paper, we employ tabletop-size small robots (Sony Toio) and an iPad-based AR sketching tool to demonstrate the concept. In our system, virtual sketches drawn and simulated on an iPad (e.g., lines, walls, pendulums, and springs) can move, actuate, collide, and constrain physical Toio robots, as if virtual sketches and the physical objects exist in the same space through seamless coupling between AR and robot motion. This paper contributes a set of novel interactions and a design space of bi-directional AR sketching. We demonstrate a series of potential applications, such as tangible physics education, explorable mechanism, tangible gaming for children, and in-situ robot programming via sketching.Comment: UIST 202

ShapeBots: Shape-changing Swarm Robots

We introduce shape-changing swarm robots. A swarm of self-transformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.Comment: UIST 201

Lean to Fly: Leaning-Based Embodied Flying can Improve Performance and User Experience in 3D Navigation

When users in virtual reality cannot physically walk and self-motions are instead only visually simulated, spatial updating is often impaired. In this paper, we report on a study that investigated if HeadJoystick, an embodied leaning-based flying interface, could improve performance in a 3D navigational search task that relies on maintaining situational awareness and spatial updating in VR. We compared it to Gamepad, a standard flying interface. For both interfaces, participants were seated on a swivel chair and controlled simulated rotations by physically rotating. They either leaned (forward/backward, right/left, up/down) or used the Gamepad thumbsticks for simulated translation. In a gamified 3D navigational search task, participants had to find eight balls within 5 min. Those balls were hidden amongst 16 randomly positioned boxes in a dark environment devoid of any landmarks. Compared to the Gamepad, participants collected more balls using the HeadJoystick. It also minimized the distance travelled, motion sickness, and mental task demand. Moreover, the HeadJoystick was rated better in terms of ease of use, controllability, learnability, overall usability, and self-motion perception. However, participants rated HeadJoystick could be more physically fatiguing after a long use. Overall, participants felt more engaged with HeadJoystick, enjoyed it more, and preferred it. Together, this provides evidence that leaning-based interfaces like HeadJoystick can provide an affordable and effective alternative for flying in VR and potentially telepresence drones

Multisensory Integration as per Technological Advances: A Review

Multisensory integration research has allowed us to better understand how humans integrate sensory information to produce a unitary experience of the external world. However, this field is often challenged by the limited ability to deliver and control sensory stimuli, especially when going beyond audio–visual events and outside laboratory settings. In this review, we examine the scope and challenges of new technology in the study of multisensory integration in a world that is increasingly characterized as a fusion of physical and digital/virtual events. We discuss multisensory integration research through the lens of novel multisensory technologies and, thus, bring research in human–computer interaction, experimental psychology, and neuroscience closer together. Today, for instance, displays have become volumetric so that visual content is no longer limited to 2D screens, new haptic devices enable tactile stimulation without physical contact, olfactory interfaces provide users with smells precisely synchronized with events in virtual environments, and novel gustatory interfaces enable taste perception through levitating stimuli. These technological advances offer new ways to control and deliver sensory stimulation for multisensory integration research beyond traditional laboratory settings and open up new experimentations in naturally occurring events in everyday life experiences. Our review then summarizes these multisensory technologies and discusses initial insights to introduce a bridge between the disciplines in order to advance the study of multisensory integration

Earth as Interface: Exploring chemical senses with Multisensory HCI Design for Environmental Health Communication

As environmental problems intensify, the chemical senses -that is smell and taste, are the most relevantsenses to evidence them.As such, environmental exposure vectors that can reach human beings comprise air,food, soil and water[1].Within this context, understanding the link between environmental exposures andhealth[2]is crucial to make informed choices, protect the environment and adapt to new environmentalconditions[3].Smell and taste lead therefore to multi-sensorial experiences which convey multi-layered information aboutlocal and global events[4]. However, these senses are usually absent when those problems are represented indigital systems. The multisensory HCIdesign framework investigateschemical sense inclusion withdigital systems[5]. Ongoing efforts tackledigitalization of smell and taste for digital delivery, transmission or substitution [6]. Despite experimentsproved technological feasibility, its dissemination depends on relevant applicationdevelopment[7].This thesis aims to fillthose gaps by demonstratinghow chemical senses provide the means to link environment and health based on scientific andgeolocation narratives [8], [9],[10]. We present a Multisensory HCI design process which accomplished symbolicdisplaying smell and taste and led us to a new multi-sensorial interaction system presented herein. We describe the conceptualization, design and evaluation of Earthsensum, an exploratory case study project.Earthsensumoffered to 16 participants in the study, environmental smell and taste experiences about real geolocations to participants of the study. These experiences were represented digitally using mobilevirtual reality (MVR) and mobile augmented reality (MAR). Its technologies bridge the real and digital Worlds through digital representations where we can reproduce the multi-sensorial experiences. Our study findings showed that the purposed interaction system is intuitive and can lead not only to a betterunderstanding of smell and taste perception as also of environmental problems. Participants comprehensionabout the link between environmental exposures and health was successful and they would recommend thissystem as education tools. Our conceptual design approach was validated and further developments wereencouraged.In this thesis,we demonstratehow to applyMultisensory HCI methodology to design with chemical senses. Weconclude that the presented symbolic representation model of smell and taste allows communicatingtheseexperiences on digital platforms. Due to its context-dependency, MVR and MAR platforms are adequatetechnologies to be applied for this purpose.Future developments intend to explore further the conceptual approach. These developments are centredon the use of the system to induce hopefully behaviourchange. Thisthesisopens up new application possibilities of digital chemical sense communication,Multisensory HCI Design and environmental health communication.À medida que os problemas ambientais se intensificam, os sentidos químicos -isto é, o cheiroe sabor, são os sentidos mais relevantes para evidenciá-los. Como tais, os vetores de exposição ambiental que podem atingir os seres humanos compreendem o ar, alimentos, solo e água [1]. Neste contexto, compreender a ligação entre as exposições ambientais e a saúde [2] é crucial para exercerescolhas informadas, proteger o meio ambiente e adaptar a novas condições ambientais [3]. O cheiroe o saborconduzemassima experiências multissensoriais que transmitem informações de múltiplas camadas sobre eventos locais e globais [4]. No entanto, esses sentidos geralmente estão ausentes quando esses problemas são representados em sistemas digitais. A disciplina do design de Interação Humano-Computador(HCI)multissensorial investiga a inclusão dossentidos químicos em sistemas digitais [9]. O seu foco atual residena digitalização de cheirose sabores para o envio, transmissão ou substituiçãode sentidos[10]. Apesar dasexperimentaçõescomprovarem a viabilidade tecnológica, a sua disseminação está dependentedo desenvolvimento de aplicações relevantes [11]. Estatese pretendepreencher estas lacunas ao demonstrar como os sentidos químicos explicitama interconexãoentre o meio ambiente e a saúde, recorrendo a narrativas científicas econtextualizadasgeograficamente[12], [13], [14]. Apresentamos uma metodologiade design HCImultissensorial que concretizouum sistema de representação simbólica de cheiro e sabor e nos conduziu a um novo sistema de interação multissensorial, que aqui apresentamos. Descrevemos o nosso estudo exploratório Earthsensum, que integra aconceptualização, design e avaliação. Earthsensumofereceu a 16participantes do estudo experiências ambientais de cheiro e sabor relacionadas com localizações geográficasreais. Essas experiências foram representadas digitalmente através derealidade virtual(VR)e realidade aumentada(AR).Estas tecnologias conectamo mundo real e digital através de representações digitais onde podemos reproduzir as experiências multissensoriais. Os resultados do nosso estudo provaramque o sistema interativo proposto é intuitivo e pode levar não apenas a uma melhor compreensão da perceção do cheiroe sabor, como também dos problemas ambientais. O entendimentosobre a interdependência entre exposições ambientais e saúde teve êxitoe os participantes recomendariam este sistema como ferramenta para aeducação. A nossa abordagem conceptual foi positivamentevalidadae novos desenvolvimentos foram incentivados. Nesta tese, demonstramos como aplicar metodologiasde design HCImultissensorialpara projetar com ossentidos químicos. Comprovamosque o modelo apresentado de representação simbólica do cheiroe do saborpermite comunicar essas experiênciasem plataformas digitais. Por serem dependentesdocontexto, as plataformas de aplicações emVR e AR são tecnologias adequadaspara este fim.Desenvolvimentos futuros pretendem aprofundar a nossa abordagemconceptual. Em particular, aspiramos desenvolvera aplicaçãodo sistema para promover mudanças de comportamento. Esta tese propõenovas possibilidades de aplicação da comunicação dos sentidos químicos em plataformas digitais, dedesign multissensorial HCI e de comunicação de saúde ambiental

Ubiquitous haptic feedback in human-computer interaction through electrical muscle stimulation

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