View : 655 Download: 0
Encountered-type haptic display for large VR environment using per-plane reachability maps
- Title
- Encountered-type haptic display for large VR environment using per-plane reachability maps
- Authors
- Kim Y.; Kim H.J.; Kim Y.J.
- Ewha Authors
- 김영준
- SCOPUS Author ID
- 김영준
- Issue Date
- 2018
- Journal Title
- Computer Animation and Virtual Worlds
- ISSN
- 1546-4261
- Citation
- Computer Animation and Virtual Worlds vol. 29, no. 3-4
- Keywords
- encountered-type haptic; haptic interaction; human–robot interaction; virtual reality
- Publisher
- John Wiley and Sons Ltd
- Indexed
- SCIE; SCOPUS
- Document Type
- Conference Paper
- Abstract
- 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. Copyright © 2018 John Wiley & Sons, Ltd.
- DOI
- 10.1002/cav.1814
- Appears in Collections:
- 인공지능대학 > 컴퓨터공학과 > Journal papers
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML