Visuo-Haptic Mixed Reality Simulation Using Unbound Handheld Tools

Applied Sciences

Yiğit Taşcıoğlu¹  MehmetMurat Aygün²  Hulusi Baysal³  YusufÇağrı Öğüt³ 

[1] Department of Mechanical Engineering, TED University—Ziya Gokalp No. 48 Cankaya, 06420 Ankara, Turkey;Department of Mechanical Engineering, TOBB University of Economics and Technology—Sogutozu No. 43 Cankaya, 06560 Ankara, Turkey;HAVELSAN, Inc., Cankaya, 06510 Ankara, Turkey;

关键词: visuo-haptic;    mixed reality;    encountered-type haptic display;    haptic interfaces;   

DOI  :  10.3390/app10155344

来源: DOAJ

【 摘 要 】

Visuo-haptic mixed reality (VHMR) adds virtual objects to a real scene and enables users to see and also touch them via a see-through display and a haptic device. Most studies with kinesthetic feedback use general-purpose haptic devices, which require the user to continuously hold an attached stylus. This approach constrains users to the mechanical limits of the device even when it is not needed. In this paper, we propose a novel VHMR concept with an encountered-type haptic display (ETHD), which consists of a precision hexapod positioner and a six-axis force/torque transducer. The main contribution is that the users work with unbound real-life tools with tracking markers. ETHD’s end-effector remains inside the virtual object and follows the tooltip to engage only during an interaction. We have developed a simulation setup and experimentally evaluated the relative accuracy and synchronization of the three major processes, namely tool tracking, haptic rendering, and visual rendering. The experiments successfully build-up to a simple simulation scenario where a tennis ball with a fixed center is deformed by the user.

【 授权许可】

Unknown