Haptic feedback provides an essential sensory stimulus crucial for interaction and analyzing three-dimensional spatio-temporal phenomena on surface visualizations. Given its ability to provide enhanced spatial perception and scene maneuverability, virtual reality (VR) catalyzes haptic interactions on surface visualizations. Various interaction modes, encompassing both mid-air and on-surface interactions -- with or without the application of assisting force stimuli -- have been explored using haptic force feedback devices. In this paper, we evaluate the use of on-surface and assisted on-surface haptic modes of interaction compared to a no-haptic interaction mode. A force-based haptic stylus is used for all three modalities; the on-surface mode uses collision based forces, whereas the assisted on-surface mode is accompanied by an additional snapping force. We conducted a within-subjects user study involving fundamental interaction tasks performed on surface visualizations. Keeping a consistent visual design across all three modes, our study incorporates tasks that require the localization of the highest, lowest, and random points on surfaces; and tasks that focus on brushing curves on surfaces with varying complexity and occlusion levels. Our findings show that participants took almost the same time to brush curves using all the interaction modes. They could draw smoother curves using the on-surface interaction modes compared to the no-haptic mode. However, the assisted on-surface mode provided better accuracy than the on-surface mode. The on-surface mode was slower in point localization, but the accuracy depended on the visual cues and occlusions associated with the tasks. Finally, we discuss participant feedback on using haptic force feedback as a tangible input modality and share takeaways to aid the design of haptics-based tangible interactions for surface visualizations.
Here we present guidelines that highlight the impact of haptic feedback upon the experiences of computer musicians using Digital Musical Instruments (DMIs). In this context, haptic feedback offers a tangible, bi-directional exchange between a musician and a DMI. We propose that by adhering to and exploring these guidelines the application of haptic feedback can enhance and augment the physical and affective experiences of a musician in interactions with these devices. It has been previously indicated that in the design of haptic DMIs, the experiences and expectations of a musician must be cons…
VR/AR technology is a key enabler for new ways of immersively experiencing cultural heritage artifacts based on their virtual counterparts obtained from a digitization process. In this paper, we focus on enriching VR-based object inspection by additional haptic feedback, thereby creating tangible cultural heritage experiences. For this purpose, we present an approach for interactive and collaborative VR-based object inspection and annotation. Our system supports high-quality 3D models with accurate reflectance characteristics while additionally providing haptic feedback regarding the object sh…
This paper outlines the development of a sensory feedback device providing a tangible interface for controlling digital environments, in this example a flight simulator, where the intention for the device is that it is relatively low cost, versatile and intuitive. Gesture based input allows for a more immersive experience, so rather than making the user feel like they are controlling an aircraft the intuitive interface allows the user to become the aircraft that is controlled by the movements of the user's hand. The movements are designed to allow a sense of immersion that would be difficult t…
We propose a new approach for interaction in Virtual Reality (VR) using mobile robots as proxies for haptic feedback. This approach allows VR users to have the experience of sharing and manipulating tangible physical objects with remote collaborators. Because participants do not directly observe the robotic proxies, the mapping between them and the virtual objects is not required to be direct. In this paper, we describe our implementation, various scenarios for interaction, and a preliminary user study.
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative influence on workers, especially inexperienced users. In this paper, we present CobotTouch, a novel intuitive robot control interface with fingertip haptic feedback. The proposed interface consists of a projected Graphical User Interface on the robotic arm to control the position of the robot end-effector based on gesture recognition, and a wearable haptic interfa…
We present Shape-Haptics, an approach for designers to rapidly design and fabricate passive force feedback mechanisms for physical interfaces. Such mechanisms are used in everyday interfaces and tools, and they are challenging to design. Shape-Haptics abstracts and broadens the haptic expression of this class of force feedback systems through 2D laser cut configurations that are simple to fabricate. They leverage the properties of polyoxymethylene plastic and comprise a compliant spring structure that engages with a sliding profile during tangible interaction. By shaping the sliding profile, d…
Most research on 3D user interfaces aims at providing only a single sensory modality. One challenge is to integrate several sensory modalities into a seamless system while preserving each modality's immersion and performance factors. This paper concerns manipulation tasks and proposes a visuo-haptic system integrating immersive visualization, tactile force and tactile feedback with co-location. An industrial application is presented.
This paper outlines the development and evaluation of a wearable haptic game interface. The device differs from many traditional haptic feedback implementation in that it combines vibrotactile feedback with gesture based input, thus becoming a two way conduit between the user and the virtual environment. The device is intended to challenge what is considered an "interface" and sets out to purposefully blur the boundary between man and machine. This allows for a more immersive experience, and a user evaluation shows that the intuitive interface allows the user to become the aircraft that is con…
Towards Tangible Immersion for Cobot Programming-by-Demonstration: Visual, Tactile and Haptic Interfaces for Mixed-Reality Cobot Automation in Semiconductor Manufacturing
Intel Labs, Intelligent System Research, Human-Robot Collaboration（英特尔实验室、智能系统研究、人机协作）
With the rise of natural user interfaces, immersive analytics applications often focus on novel forms of interaction modalities such as mid-air gestures, gaze or tangible interaction utilizing input devices such as depth-sensors, touch screens and eye-trackers. At the same time, traditional input devices such as the physical keyboard and mouse are used to a lesser extent. We argue, that for certain work scenarios, such as conducting analytic tasks at stationary desktop settings, it can be valuable to combine the benefits of novel and established input devices as well as input modalities to cre…
This paper outlines the development of a wearable game controller incorporating vibrotacticle haptic feedback that provides a low cost, versatile and intuitive interface for controlling digital games. The device differs from many traditional haptic feedback implementation in that it combines vibrotactile based haptic feedback with gesture based input, thus becoming a two way conduit between the user and the virtual environment. The device is intended to challenge what is considered an "interface" and draws on work in the area of Actor-Network theory to purposefully blur the boundary between ma…
Haptic feedback is essential to acquire immersive experience when interacting in virtual or augmented reality. Although the existing promising magnetic levitation (maglev) haptic system has advantages of none mechanical friction, its performance is limited by its navigation method, which mainly results from the challenge that it is difficult to obtain high precision, high frame rate and good stability with lightweight design at the same. In this study, we propose to perform the visual-inertial fusion navigation based on sequence-to-sequence learning for the maglev haptic interaction. Cascade L…
Our sense of touch is essential and permeates in interactions involving natural explorations and affective communications. For instance, we routinely judge the ripeness of fruit at the grocery store, caress the arm of a spouse to offer comfort, and stroke textiles to gauge their softness. Meanwhile, interactive displays that provide tactile feedback are becoming normal and ubiquitous in our daily lives, and are extending rich and immersive interactions into augmented and virtual reality. To replicate touch sensation and make virtual objects feel tangible, such feedback will need to relay a sen…
HapticGiant: A Novel Very Large Kinesthetic Haptic Interface with Hierarchical Force Control
Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT)（智能传感器-执行器系统实验室（ISAS），人机学与机器人研究所，卡尔斯鲁厄理工学院（KIT））
Effect of Haptic Feedback on Avoidance Behavior and Visual Exploration in Dynamic VR Pedestrian Environment
Department of Mechano-informatics, The University of Tokyo（机械信息学系，东京大学）；Department of Electrical Engineering, Stanford University（电气工程系，斯坦福大学）；Department of Mechanical Engineering, Stanford University（机械工程系，斯坦福大学）
A wearable haptic device for edge and surface simulation
Institute of Mechanical Intelligence, School of Advanced Studies Sant'Anna (SSSA)（圣安娜高等研究学院机械智能研究所）；CAS Key Laboratory of Mechanical Behavior and Design of Materials, Institute of Humanoid Robots, School of Engineering Sciences, University of Science and Technology of China（中国科学院材料力学行为和设计重点实验室，中国科学技术大学工程科学学院仿生机器人研究所）
Skolkovo Institute of Science and Technology（斯科尔科沃科技学院）
We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by us allows the user to quickly deploy a swarm of drones, generating flight paths simulating archery. The haptic interface LinkGlide delivers a tactile stimulus of the bowstring tension to the forearm to increase the precision of aiming. The swarm of released drones dynamically avoids collisions between each other, the drone following the user, and external o…
Manipulating Tangible Virtual Object Dynamics to Promote Learning of Precision Force Generation
Department of Cognitive Robotics, Delft University of Technology, Delft, 2628 CD, The Netherlands；Department of Socio-medical Sciences, Erasmus School of Health Policy \& Management, Erasmus University Rotterdam, Rotterdam, 3062PA, The Netherlands.；Department of Applied Mathematics, Delft University of Technology, Delft, 2628 CD, The Netherlands；Department of Rehabilitation Medicine, Erasmus Medical Center, Rotterdam, 3015 GD, The Netherlands
Inspired by the role sound and friction play in interactions with everyday objects, this work aims to identify some of the ways in which kinetic surface friction rendering can complement interactive sonification controlled by movable objects. In order to do this, a tactile system is presented which implements a movable physical object with programmable friction. Important aspects of this system include the capacity to display high-resolution kinetic friction patterns, the ability to algorithmically define interactions directly in terms of physical units, and the complete integration of audio a…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at the correct location. To the best of our knowledge, there is no study to obtain the human palm data for this purpose. The objective of this work is to introduce the method to investigate the user's palm sensations during the interaction with objects. An array of fifteen Force Sensitive Resistors (FSRs) was located at the user's palm to get the area of interac…
Virtual reality (VR) offers immersive visualization and intuitive interaction. We leverage VR to enable any biomedical professional to deploy a deep learning (DL) model for image classification. While DL models can be powerful tools for data analysis, they are also challenging to understand and develop. To make deep learning more accessible and intuitive, we have built a virtual reality-based DL development environment. Within our environment, the user can move tangible objects to construct a neural network only using their hands. Our software automatically translates these configurations into…
New York University（纽约大学）；The Chinese University of Hong Kong（香港中文大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）
While tremendous advances in visual and auditory realism have been made for virtual and augmented reality (VR/AR), introducing a plausible sense of physicality into the virtual world remains challenging. Closing the gap between real-world physicality and immersive virtual experience requires a closed interaction loop: applying user-exerted physical forces to the virtual environment and generating haptic sensations back to the users. However, existing VR/AR solutions either completely ignore the force inputs from the users or rely on obtrusive sensing devices that compromise user experience. By…
Sensing the properties of virtual objects without physical feedback
Intangible Realities Laboratory (IRL), Centro Singular de Investigación en Tecnoloxías Intelixentes (CiTIus), University of Santiago de Compostela, Santiago de Compostela, Spain（圣地亚哥-德孔波斯特拉大学）
