Encountered-type haptic display for large VR environment using per-plane reachability maps
- 주제(키워드) encountered-type haptic , haptic interaction , human-robot interaction , virtual reality
- 주제(기타) Computer Science, Software Engineering
- 설명문(일반) [Kim, Yaesol; Kim, Hyun Jung; Kim, Young J.] Ewha Womans Univ, Dept Comp Sci & Engn, Seoul 03760, South Korea
- 지원기관 Chinese Acad Sci, Inst Software, State Key Lab Comp Sci, ACM SIGGRAPH
- 관리정보기술 faculty
- 등재 SCIE, SCOPUS
- 발행기관 WILEY
- 발행년도 2018
- 회의명 Conference on Computer Animation and Social Agents (CASA)
- 개최지 Beijing, PEOPLES R CHINA
- 일자 2018
- URI http://www.dcollection.net/handler/ewha/000000151545
- 본문언어 영어
- Published As http://dx.doi.org/10.1002/cav.1814
초록/요약
We show a novel encountered-type haptic system, H-Wall, to enable haptic feedback using a manipulator of seven degrees of freedom suitable for simulating indoor virtual reality environments, which are characterized and confined by a set of vertical walls and revolving doors. At runtime, our system tracks hand motion using a red-green-blue depth sensor and locates its configuration. Then, the robotic manipulator plans a trajectory for the end effector, attached to a rectangular rigid board, to make contact with the hand to deliver a sense of touch as long as the perceived hand contact force is substantial. The force feedback is generated in a passive sense for static walls that the rigid board, corresponding to a vertical wall, holds its position as long as the perceived hand contact force is substantial. For a revolving door, the force feedback is generated in an active sense based on impedance control. In order to address the issue of limited workspace, we also propose a new reachability map, called per-plane reachability map, that is optimized to answer whether passive haptic feedback can be generated by a manipulator when the user touches a vertical wall at a given orientation. We successfully demonstrate our system to provide an illusion to the user in a virtual environment with touch sensation to the surrounding environment.
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