Journal articles: 'Haptic Interaction'

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Song, Hua Zhu, Cong Cheng, Bin Zhao, and Bo Liu. "Haptic Feedback Interaction Design and Implementation in Virtual Spinal Fixation Surgery System." Advanced Materials Research 219-220 (March 2011): 919–23. http://dx.doi.org/10.4028/www.scientific.net/amr.219-220.919.

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This paper proposed the solution of haptic feedback interaction, which can be used for 3D interaction in Virtual Spinal Fixation Surgery System. We frist introduced the traditional Proxy-based Volume Haptics solution, and then proposed the Haptic feedback primitive based on it. There are four Haptic feedback primitive: point, line, plane and direct force. The haptic feedback system developing model is composed by Haptic Rendering and Graphics Rendering. The paper designed interface and classes based on this model, and then implemented the haptic feedback system at last. With this system, we can feel the load carring condition, speed up the virtual operation and provide data analysis more accurately.

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Achibet, Merwan, Adrien Girard, Maud Marchal, and Anatole Lécuyer. "Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach." Presence: Teleoperators and Virtual Environments 25, no. 1 (July 1, 2016): 17–32. http://dx.doi.org/10.1162/pres_a_00243.

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Haptic feedback is known to improve 3D interaction in virtual environments but current haptic interfaces remain complex and tailored to desktop interaction. In this paper, we describe an alternative approach called “Elastic-Arm” for incorporating haptic feedback in immersive virtual environments in a simple and cost-effective way. The Elastic-Arm is based on a body-mounted elastic armature that links the user's hand to the body and generates a progressive egocentric force when extending the arm. A variety of designs can be proposed with multiple links attached to various locations on the body in order to simulate different haptic properties and sensations such as different levels of stiffness, weight lifting, and bimanual interaction. Our passive haptic approach can be combined with various 3D interaction techniques and we illustrate the possibilities offered by the Elastic-Arm through several use cases based on well-known techniques such as the Bubble technique, redirected touching, and pseudo-haptics. A user study was conducted which showed the effectiveness of our pseudo-haptic technique as well as the general appreciation of the Elastic-Arm. We believe that the Elastic-Arm could be used in various VR applications which call for mobile haptic feedback or human-scale haptic sensations.

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Iakovou, Georgios, Steven Hayward, and Stephen Laycock. "A real-time proximity querying algorithm for haptic-based molecular docking." Faraday Discuss. 169 (2014): 359–77. http://dx.doi.org/10.1039/c3fd00123g.

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Intermolecular binding underlies every metabolic and regulatory processes of the cell, and the therapeutic and pharmacological properties of drugs. Molecular docking systems model and simulate these interactions in silico and allow us to study the binding process. Haptic-based docking provides an immersive virtual docking environment where the user can interact with and guide the molecules to their binding pose. Moreover, it allows human perception, intuition and knowledge to assist and accelerate the docking process, and reduces incorrect binding poses. Crucial for interactive docking is the real-time calculation of interaction forces. For smooth and accurate haptic exploration and manipulation, force-feedback cues have to be updated at a rate of 1 kHz. Hence, force calculations must be performed within 1ms. To achieve this, modern haptic-based docking approaches often utilize pre-computed force grids and linear interpolation. However, such grids are time-consuming to pre-compute (especially for large molecules), memory hungry, can induce rough force transitions at cell boundaries and cannot be applied to flexible docking. Here we propose an efficient proximity querying method for computing intermolecular forces in real time. Our motivation is the eventual development of a haptic-based docking solution that can model molecular flexibility. Uniquely in a haptics application we use octrees to decompose the 3D search space in order to identify the set of interacting atoms within a cut-off distance. Force calculations are then performed on this set in real time. The implementation constructs the trees dynamically, and computes the interaction forces of large molecular structures (i.e. consisting of thousands of atoms) within haptic refresh rates. We have implemented this method in an immersive, haptic-based, rigid-body, molecular docking application called Haptimol_RD. The user can use the haptic device to orientate the molecules in space, sense the interaction forces on the device, and guide the molecules to their binding pose. Haptimol_RD is designed to run on consumer level hardware, i.e. there is no need for specialized/proprietary hardware.

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Kawasaki, Haruhisa, and Osama Halabi. "Special Issue on Haptics: Interfaces, Applications, and Perception." Journal of Robotics and Mechatronics 18, no. 4 (August 20, 2006): 367. http://dx.doi.org/10.20965/jrm.2006.p0367.

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The last decade has seen significant advances in research on haptics and haptic interfaces. Device performance has improved, and the many commercial devices now available at reasonable prices indicate how haptic research will grow and new applications involving haptics will touch all aspects of daily life. Sophisticated systems require research beyond physical devices, such as modeling the physical properties of virtual objects, human physiology, and haptic evaluation. This special issue focuses on state-of-the-art design and development of haptic interfaces and explores potential applications of this technology and related issues such as tactile display, haptic rendering, physiology, and evaluation methodologies. The 15 papers were selected after a rigorous peer review from around the world and include diverse topics such as haptic device design and technology, tactile display and tactile sensing, collaborative multiuser haptic environments, haptic cognition, haptic rendering, tele-existence and multimodal interaction, and medical and rehabilitation applications. We thank the Editorial Board of JRM Journal for making this special issue possible. We also thank the authors for contributing their fine work and revising their papers for this issue, and extend our thanks and appreciation to the reviewers for their constructive comments and suggestions.

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Quintas, Manuel Rodrigues, Maria Teresa Restivo, José Rodrigues, and Pedro Ubaldo. "Let's Use Haptics!" International Journal of Online and Biomedical Engineering (iJOE) 9, S8 (December 4, 2013): 65. http://dx.doi.org/10.3991/ijoe.v9is8.3392.

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The concept and the use of haptic devices need to be disseminated and they should become familiar among young people. At present haptics are used in many everyday tasks in different fields. Additionally, their use in interaction with virtual reality applications simulating real systems sense of touch will increase the usersâ?? realism and immersion and, consequently, they will contribute to improve the intrinsic knowledge to the simulationsâ?? goals. However, haptics are associated with expensive equipment and usually they offer several degrees of freedom. The objective of this work is to make their cost not much more expensive than a â??specialâ? mouse by offering a low cost solution with just one degree of freedom (1DOF) useful in many simple cases. Additionally, it is also an objective of this work the development of simple virtual reality systems requiring interactions only requiring one degree of freedom. A low cost, single-axis force-feedback haptic device of 1 degree of freedom has been developed. For evaluating the interest of this prototype a â??Spring Constantâ? application was built and used as a demonstrator. The complete system - the haptic interacting with the â??Spring Constantâ? - will be described in the present work.

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Chen, Hui, and Hanqiu Sun. "Body-Based Haptic Interaction Model for Touch-Enabled Virtual Environments." Presence: Teleoperators and Virtual Environments 15, no. 2 (April 2006): 186–203. http://dx.doi.org/10.1162/pres.2006.15.2.186.

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In this paper, we propose a novel body-based haptic interaction model that simulates the intrinsic physical properties of the tool and virtual objects during the haptic interaction. When tracing the haptic tool interacting with objects, the body-based force evaluation model based on Hertz's contact theory including both frictional and frictionless contacts is developed in our system. Physical properties of different object materials expressed by Poisson's ratio and Young's modulus are involved to simulate the realistic touch perception between the haptic tool and objects. The neighborhood of transmitted force is dynamically determined in relation to the contact load, and a discrete solution method is applied to accelerate the computation rate of realistic haptic interaction. Our experimental results have shown satisfactory performance of the body-based haptic model we have developed while interacting in touch-enabled virtual environments.

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Villa, Steeven, Sven Mayer, Jess Hartcher-O'Brien, Albrecht Schmidt, and Tonja-Katrin Machulla. "Extended mid-air ultrasound haptics for virtual reality." Proceedings of the ACM on Human-Computer Interaction 6, ISS (November 14, 2022): 500–524. http://dx.doi.org/10.1145/3567731.

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Mid-air haptics allow bare-hand tactile stimulation; however, it has a constrained workspace, making it unsuitable for room-scale haptics. We present a novel approach to rendering mid-air haptic sensations in a large rendering volume by turning a static array into a dynamic array following the user's hand. We used a 6DOF robot to drive a haptic ultrasound array over a large 3D space. Our system enables rendering room-scale mid-air experiences while preserving bare-hand interaction, thus, providing tangibility for virtual environments. To evaluate our approach, we performed three evaluations. First, we performed a technical system evaluation, showcasing the feasibility of such a system. Next, we conducted three psychophysical experiments, showing that the motion does not affect the user's perception with high likelihood. Lastly, we explored seven use cases that showcase our system's potential using a user study. We discuss challenges and opportunities in how large-scale mid-air haptics can contribute toward room-scale haptic feedback. Thus, with our system, we contribute to general haptic mid-air feedback on a large scale.

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Kontogeorgakopoulos, Alexandros. "Music, Art Installations and Haptic Technology." Arts 12, no. 4 (July 7, 2023): 142. http://dx.doi.org/10.3390/arts12040142.

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This paper presents some directions on the design, development and creative use of haptic systems for musical composition, performance and digital art creation. This research has been conducted both from an artistic and a technical point of view and its ambition, over the last decade, apart from the artistic outcome, was to introduce the field of haptics to artistic communities based on an open, do it yourself—DIY ethos. The five directions presented here are not in any sense exhaustive and are based principally on a series of collaborative works and more personal open-ended explorations with the medium of haptics and, more specifically, force-feedback interaction. They will be highlighted along with information about the interaction models and their application to artistic works created by the author and other colleagues. Those directions are (i) Haptic Algorithms and Systems; (ii) Performers Intercoupling; (iii) Haptic Interfaces as Part of the Artistic Practice; (iv) Electromechanical Sound Generation; and (v) Media Art and Art Installations. The interdisciplinary field of musical haptics still has a relatively minor position in the sound and music computing research agendas and, more importantly, its artistic dimension is very rarely discussed. The findings of this research aim to indicate and clarify potential research pathways and offer some results on the use of haptics and force-feedback systems in an artistic context.

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Rau, Pei-Luen Patrick, Jian Zheng, Lijun Wang, Jingyu Zhao, and Dangxiao Wang. "Haptic and Auditory–Haptic Attentional Blink in Spatial and Object-Based Tasks." Multisensory Research 33, no. 3 (July 1, 2020): 295–312. http://dx.doi.org/10.1163/22134808-20191483.

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Abstract Dual-task performance depends on both modalities (e.g., vision, audition, haptics) and task types (spatial or object-based), and the order by which different task types are organized. Previous studies on haptic and especially auditory–haptic attentional blink (AB) are scarce, and the effect of task types and their order have not been fully explored. In this study, 96 participants, divided into four groups of task type combinations, identified auditory or haptic Target 1 (T1) and haptic Target 2 (T2) in rapid series of sounds and forces. We observed a haptic AB (i.e., the accuracy of identifying T2 increased with increasing stimulus onset asynchrony between T1 and T2) in spatial, object-based, and object–spatial tasks, but not in spatial–object task. Changing the modality of an object-based T1 from haptics to audition eliminated the AB, but similar haptic-to-auditory change of the modality of a spatial T1 had no effect on the AB (if it exists). Our findings fill a gap in the literature regarding the auditory–haptic AB, and substantiate the importance of modalities, task types and their order, and the interaction between them. These findings were explained by how the cerebral cortex is organized for processing spatial and object-based information in different modalities.

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MacLean, Karon E. "Haptic Interaction Design for Everyday Interfaces." Reviews of Human Factors and Ergonomics 4, no. 1 (October 2008): 149–94. http://dx.doi.org/10.1518/155723408x342826.

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This chapter sets about to provide the background and orientation needed to set a novice designer on his or her way to bringing haptics successfully into an interactive product. To define appropriate roles for haptic interaction, it is necessary to integrate a basic awareness of human capabilities on one hand and current device technology on the other. Here, I explore this integration by first summarizing the most salient constraints imposed by both humans and hardware. I then proceed to relate perceptual, motor, and attentional capabilities to a selection of emerging application contexts chosen to be relevant to contemporary design trends and opportunities. These include abstract communication and notification, augmentation of graphical user interfaces, expressive control, affective communication, and mobile and handheld computing.

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Azofeifa, Jose Daniel, Julieta Noguez, Sergio Ruiz, José Martín Molina-Espinosa, Alejandra J. Magana, and Bedrich Benes. "Systematic Review of Multimodal Human–Computer Interaction." Informatics 9, no. 1 (February 15, 2022): 13. http://dx.doi.org/10.3390/informatics9010013.

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This document presents a systematic review of Multimodal Human–Computer Interaction. It shows how different types of interaction technologies (virtual reality (VR) and augmented reality, force and vibration feedback devices (haptics), and tracking) are used in different domains (concepts, medicine, physics, human factors/user experience design, transportation, cultural heritage, and industry). A systematic literature search was conducted identifying 406 articles initially. From these articles, we selected 112 research works that we consider most relevant for the content of this article. The articles were analyzed in-depth from the viewpoint of temporal patterns, frequency of usage in types of technology in different domains, and cluster analysis. The analysis allowed us to answer relevant questions in searching for the next steps in work related to multimodal HCI. We looked at the typical technology type, how the technology type and frequency have changed in time over each domain, and how papers are grouped across metrics given their similarities. This analysis determined that VR and haptics are the most widely used in all domains. While VR is the most used, haptic interaction is presented in an increasing number of applications, suggesting future work on applications that configure VR and haptic together.

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Chen, Meng, Shogo Okada, and Katsumi Nitta. "Evaluation of Haptic Interaction in Intercultural Online Negotiation." Journal of Advanced Computational Intelligence and Intelligent Informatics 17, no. 6 (November 20, 2013): 779–90. http://dx.doi.org/10.20965/jaciii.2013.p0779.

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In this study, we bring haptic technology into an online negotiation system to improve the method of conveying nonverbal information. Our goal is to verify the effectiveness of haptic interaction in communication between Japanese and Chinese participants. We conducted online negotiation experiments with and without haptic interaction. We classified Chinese participants according to their Japanese levels, and analyzed characteristics of their haptic interaction. Results of the questionnaire we administered implied that in negotiations with haptic interaction, the expression of emotion and the sense of presence were improved compared to those without haptic interaction. Results of Japanese – Chinese pairs showed haptic interaction to be of higher importance to Chinese than the Japanese pairs. For participants who lacked linguistic ability, haptic interaction still showed usefulness in experiments. We concluded from these results that haptic interaction during intercultural online negotiation was effective for intercultural users.

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Vaquero-Melchor, Diego, and Ana M. Bernardos. "Enhancing Interaction with Augmented Reality through Mid-Air Haptic Feedback: Architecture Design and User Feedback." Applied Sciences 9, no. 23 (November 26, 2019): 5123. http://dx.doi.org/10.3390/app9235123.

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Nowadays, Augmented-Reality (AR) head-mounted displays (HMD) deliver a more immersive visualization of virtual contents, but the available means of interaction, mainly based on gesture and/or voice, are yet limited and obviously lack realism and expressivity when compared to traditional physical means. In this sense, the integration of haptics within AR may help to deliver an enriched experience, while facilitating the performance of specific actions, such as repositioning or resizing tasks, that are still dependent on the user’s skills. In this direction, this paper gathers the description of a flexible architecture designed to deploy haptically enabled AR applications both for mobile and wearable visualization devices. The haptic feedback may be generated through a variety of devices (e.g., wearable, graspable, or mid-air ones), and the architecture facilitates handling the specificity of each. For this reason, within the paper, it is discussed how to generate a haptic representation of a 3D digital object depending on the application and the target device. Additionally, the paper includes an analysis of practical, relevant issues that arise when setting up a system to work with specific devices like HMD (e.g., HoloLens) and mid-air haptic devices (e.g., Ultrahaptics), such as the alignment between the real world and the virtual one. The architecture applicability is demonstrated through the implementation of two applications: (a) Form Inspector and (b) Simon Game, built for HoloLens and iOS mobile phones for visualization and for UHK for mid-air haptics delivery. These applications have been used to explore with nine users the efficiency, meaningfulness, and usefulness of mid-air haptics for form perception, object resizing, and push interaction tasks. Results show that, although mobile interaction is preferred when this option is available, haptics turn out to be more meaningful in identifying shapes when compared to what users initially expect and in contributing to the execution of resizing tasks. Moreover, this preliminary user study reveals some design issues when working with haptic AR. For example, users may be expecting a tailored interface metaphor, not necessarily inspired in natural interaction. This has been the case of our proposal of virtual pressable buttons, built mimicking real buttons by using haptics, but differently interpreted by the study participants.

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Gruenefeld, Uwe, Alexander Geilen, Jonathan Liebers, Nick Wittig, Marion Koelle, and Stefan Schneegass. "ARm Haptics." Proceedings of the ACM on Human-Computer Interaction 6, MHCI (September 19, 2022): 1–18. http://dx.doi.org/10.1145/3546728.

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Augmented Reality (AR) technology enables users to superpose virtual content onto their environments. However, interacting with virtual content while mobile often requires users to perform interactions in mid-air, resulting in a lack of haptic feedback. Hence, in this work, we present the ARm Haptics system, which is worn on the user's forearm and provides 3D-printed input modules, each representing well-known interaction components such as buttons, sliders, and rotary knobs. These modules can be changed quickly, thus allowing users to adapt them to their current use case. After an iterative development of our system, which involved a focus group with HCI researchers, we conducted a user study to compare the ARm Haptics system to hand-tracking-based interaction in mid-air (baseline). Our findings show that using our system results in significantly lower error rates for slider and rotary input. Moreover, use of the ARm Haptics system results in significantly higher pragmatic quality and lower effort, frustration, and physical demand. Following our findings, we discuss opportunities for haptics worn on the forearm.

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Raisamo, Roope, Veikko Surakka, Jukka Raisamo, Jussi Rantala, Jani Lylykangas, and Katri Salminen. "Haptic interaction becomes reality." Journal of Ambient Intelligence and Smart Environments 1, no. 1 (2009): 37–41. http://dx.doi.org/10.3233/ais-2009-0005.

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Karniel, Amir, Angelika Peer, Opher Donchin, Ferdinando A. Mussa-Ivaldi, and Gerald E. Loeb. "Haptic Human-Robot Interaction." IEEE Transactions on Haptics 5, no. 3 (2012): 193–95. http://dx.doi.org/10.1109/toh.2012.47.

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Zhang, Xingzi, and Alexei Sourin. "Image-inspired haptic interaction." Computer Animation and Virtual Worlds 26, no. 3-4 (May 2015): 311–19. http://dx.doi.org/10.1002/cav.1643.

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Alonso-Torres, Brayan, José Daniel Castro-Díaz, Mauro López-Rodríguez, and Marco Arteaga. "Development of a 6-DOF robot for haptic interaction with complex virtual environments." Memorias del Congreso Nacional de Control Automático 5, no. 1 (October 17, 2022): 356–61. http://dx.doi.org/10.58571/cnca.amca.2022.044.

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In the last decade, the design and implementation of robots have taken a turnaround in areas such as haptics and virtual reality. Unlike the big and heavy industrial robots, haptic ones must be light and suitable to be easily handled by an operator. Moreover, they must have enough actuators to allow a realistic haptic interaction with a complex virtual environment. In this work, we present the two phases Research and Development process of a six-degrees-of-freedom haptic robot. In the first phase, we build on our previous work to design a spherical wrist, improving both the mechanics and electronics of an old one. In the second phase, we design a virtual environment consisting of a ball and beam system with which the operator interacts visually and haptically. The basis of our development is the well-known Novint Falcon parallel robot that acts as the first 3-DOF of the resulting device. The rest is completed with our improved spherical wrist, in which a 6-DOF force sensor that measures the interaction forces between the virtual environment and the operator was mounted. Our ultimate goal is to evaluate the usability of the obtained haptic robot and present it as a viable alternative to current commercial devices.

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Dosher, Jesse, and Blake Hannaford. "Human Interaction with Small Haptic Effects." Presence: Teleoperators and Virtual Environments 14, no. 3 (June 2005): 329–44. http://dx.doi.org/10.1162/105474605323384672.

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This research investigates the ability of subjects to detect small haptic effects and the associated gains in task performance with various configurations of haptic stimuli. Variations in force amplitude, shape, and pulse duration used to create the effects are studied. An adaptive-threshold method is used to obtain subjects' detection thresholds for actively explored haptic icons ranging in size from 3 to 5 mm. Detection thresholds are compared for smooth versus rough actively-explored icons. Subjects' detection thresholds for “static icons” (force pulses of 50 to 150 ms duration) are also measured. Results indicate that rough (sawtooth) haptic icons are more easily detected by a human subject than smooth (sinusoidal) icons of the same size. Transient vibrotactile cues may contribute to these observations. Mean subject performance, as measured by Fitts' information-processing rate and by clicks per minute, is shown to improve with the amplitude of haptic stimulus.

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Fukui, Yukio, Makoto Shimojo, and Juli Yamashita. "Recognition by Inconsistent Information from Visual and Haptic Interface." Journal of Robotics and Mechatronics 9, no. 3 (June 20, 1997): 208–12. http://dx.doi.org/10.20965/jrm.1997.p0208.

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Haptic interaction is a important paradigm to be investigated further in virtual reality technology. Though the human sense of sight is generally more sensitive than that of touch, it is subject to optical illusions. We took experiments to investigate the characteristics of shape recognition based on the sense of sight and of touch or haptics in an optical illusion environment. The result is that the evaluated value of recognition is greatly affected by optical illusion. Furthermore, the differential threshold becomes larger when haptic information was added. Therefore, the design of multi modal interfaces requires much consideration so that the visual environmental setting does not cause optical illusion. Also, two methods for haptic display are considered.

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Crandall, Riley, and Ernur Karadoğan. "Designing Pedagogically Effective Haptic Systems for Learning: A Review." Applied Sciences 11, no. 14 (July 6, 2021): 6245. http://dx.doi.org/10.3390/app11146245.

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Haptic technology enables users to utilize their sense of touch while engaging with a virtual representation of objects in a simulated environment. It is a bidirectional technology in that it facilitates the interaction between the user and these virtual representations by allowing them to apply force onto one another, which is analogous to our real-world interactions with physical objects as action-reaction pairs. The sense of touch is a powerful and innate learning tool that we readily employ starting from very early ages as infants even before learning to walk. Therefore, it is natural that incorporating haptic technology into pedagogical methods has been an active research area as it has significant potential to enrich the learning experience and provide an engaging environment for learners. In this paper, we reviewed studies from various disciplines that incorporate haptics to increase the quality of teaching and learning while emphasizing the underlying cognitive theories. In that direction, we describe two of the most common cognitive theories, the Cognitive Load and Embodied Cognition theories, that developers use to support haptic technology’s implications and use in learning environments. We then explore the effects of haptic design on its current applicability following these two theories. Finally, we summarize the best design practices to develop haptic simulations for learning, address gaps in current research, and propose new research directions.

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Nam, SangHun, Jiyong Lee, and Ginam Ko. "The Interaction of Five-Fingered Haptic Controller for Manipulating Object in Virtual Reality." International Journal of Computer and Communication Engineering 9, no. 4 (2020): 160–66. http://dx.doi.org/10.17706/ijcce.2020.9.4.160-166.

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In this paper, we designed a haptic controller interface that can control haptic controller with pressure sensors that collect pressure data from each finger, linear actuators to control different force feedback on each finger, and vibration motor. The haptic controller system consists of haptic controller hardware, haptic controller interface, and game engine module. The haptic controller hardware communicates with haptic controller interface module via serial communication. The game engine interface module performs physics-based interaction between haptic controller and virtual object. We designed the haptic controller interface with previously studied hardware and performed user tests. This paper showed the possibility of more realistic hand operation than the existing VR controller.

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Ho, Chih-Hao, Cagatay Basdogan, and Mandayam A. Srinivasan. "Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects." Presence: Teleoperators and Virtual Environments 8, no. 5 (October 1999): 477–91. http://dx.doi.org/10.1162/105474699566413.

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Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the users can manually explore and feel the shape and surface details of virtual objects. The main component of our rendering method is the “neighborhood watch” algorithm that takes advantage of precomputed connectivity information for detecting collisions between the end effector of a force-reflecting robot and polyhedral objects in VEs. We use a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time such that the haptic servo rate after the first contact is essentially independent of the number of polygons that represent the object. We also propose efficient methods for displaying surface properties of objects such as haptic texture and friction. Our haptic-texturing techniques and friction model can add surface details onto convex or concave 3-D polygonal surfaces. These haptic-rendering techniques can be extended to display dynamics of rigid and deformable objects.

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HSIEH, MING-SHIUM, MING-DAR TSAI, and YI-DER YEH. "AN AMPUTATION SIMULATOR WITH BONE SAWING HAPTIC INTERACTION." Biomedical Engineering: Applications, Basis and Communications 18, no. 05 (October 25, 2006): 229–36. http://dx.doi.org/10.4015/s1016237206000361.

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This paper describes a haptic device equipped surgical simulator that provides visual and haptic responses for amputation surgery. This simulator, based on our reported volume (constituted from CT slices) manipulation algorithms, can compute and demonstrate bone changes for the procedures in various orthopedic surgeries. The system is equipped with a haptic device. The position and attitude the haptic device are transformed into the volume to simulate and render the oscillating virtual saw together with the virtual bones. The system then judges if every saw tooth immersing in (cutting) any bone. The load for removing the bone chip on a cutting tooth is calculated according to the feed rate, oscillating speed, saw geometry and bone type. The loads on all the saw teeth are then summed into the three positional forces that the haptic device generates and thus the user feels. The system provides real-time visual and haptic refresh speeds for the sawing procedures. A simulation example of amputation surgery demonstrates the sawing haptic and visual feelings of the sawing procedure are consistent and the simulated sawing force resembles the real force. Therefore, this prototype simulator demonstrates the effectiveness as a surgical simulator to rehearsal the surgical procedures, confirm surgical plains and train interns and students.

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Hirota, Koichi, Masaki Hirayam, Atsuko Tanaka, and Toyohisa Kaneko. "Spatial Constraint Method: A New Approach to Real-Time Haptic Interaction in Virtual Environments." Presence: Teleoperators and Virtual Environments 13, no. 3 (June 2004): 355–70. http://dx.doi.org/10.1162/1054746041422307.

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In this paper, we propose an approach to real-time haptic interaction based on the concept of simulating the constraining propertes of space. Research on haptic interaction has been conducted from the points of view of both surface and volume rendering. Most approaches to surface rendering—such as the constraint-based god-object method, the point-based approach, and the virtual proxy approach—have dealt only with the interaction with an object surface. Whereas, in volume rendering approaches, algorithms for representing volume data through interactions in space have been investigated. Our approach provides a framework for the representation of haptic interaction with both surface and space. We discretize the space using a tetrahedral cell mesh and associate a constraining property with each cell. The interaction of the haptic interface points with a volume is simulated using the constraining properties of the cells occupied by this volume. We implemented a fast computation algorithm that works at a haptic rate. The algorithm is robust in that any sudden or quick motion of the user does not disturb the computation, and the computation time for each cycle is independent of the complexity of the model as a whole. To demonstrate the performance of the proposed method, we present experimental results on the interaction with models of varying complexity. Also, we discuss some problems that need to be solved in future work.

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Li, Jingyi, Alexandra Mayer, and Andreas Butz. "Towards a Design Space of Haptics in Everyday Virtual Reality across Different Spatial Scales." Multimodal Technologies and Interaction 5, no. 7 (July 3, 2021): 36. http://dx.doi.org/10.3390/mti5070036.

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Virtual Reality (VR) has become a consumer-grade technology, especially with the advent of standalone headsets working independently from a powerful computer. Domestic VR mainly uses the visual and auditory senses since VR headsets make this accessible. Haptic feedback, however, has the potential to increase immersion substantially. So far, it is mostly used in laboratory settings with specialized haptic devices. Especially for domestic VR, there is underexplored potential in exploiting physical elements of the often confined space in which it is used. In a literature review (n = 20), we analyzed VR interaction using haptic feedback with or without physical limitations. From this, we derive a design space for VR haptics across three spatial scales (seated, standing, and walking). In our narrow selection of papers, we found inspirations for future work and will discuss two example scenarios. Our work gives a current overview of haptic VR solutions and highlights strategies for adapting laboratory solutions to an everyday context.

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Fasse, Ernest D., Neville Hogan, Bruce A. Kay, and Ferdinando A. Mussa-Ivaldi. "Haptic interaction with virtual objects." Biological Cybernetics 82, no. 1 (January 1, 2000): 69–83. http://dx.doi.org/10.1007/pl00007962.

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Hasegawa, S., Y. Yamazaki, T. Ishikawa, Y. Osada, and M. Sato. "Robot simulation for haptic interaction." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2004 (2004): 11. http://dx.doi.org/10.1299/jsmermd.2004.11_1.

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Pietrzak, Thomas, and Marcelo M. Wanderley. "Haptic and audio interaction design." Journal on Multimodal User Interfaces 14, no. 3 (August 7, 2020): 231–33. http://dx.doi.org/10.1007/s12193-020-00344-w.

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Dongye, Xiaonuo, Dongdong Weng, Haiyan Jiang, and Lulu Feng. "A Modular Haptic Agent System with Encountered-Type Active Interaction." Electronics 12, no. 9 (April 30, 2023): 2069. http://dx.doi.org/10.3390/electronics12092069.

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Virtual agents are artificial intelligence systems that can interact with users in virtual reality (VR), providing users with companionship and entertainment. Virtual pets have become the most popular virtual agents due to their many benefits. However, haptic interaction with virtual pets involves two challenges: the rapid construction of various haptic proxies, and the design of agent-initiated active interaction. In this paper, we propose a modular haptic agent (MHA) prototype system, enabling the tactile simulation and encountered-type haptic interaction of common virtual pet agents through a modular design method and a haptic mapping method. Meanwhile, the MHA system with haptic interaction is actively initiated by the agents according to the user’s intention, which makes the virtual agents appear more autonomous and provides a better experience of human–agent interaction. Finally, we conduct three user studies to demonstrate that the MHA system has more advantages in terms of realism, interactivity, attraction, and raising user emotions. Overall, MHA is a system that can build multiple companion agents, provide active interaction and has the potential to quickly build diverse haptic agents for an intelligent and comfortable virtual world.

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Ramirez-Zamora, Juan Daniel, Omar Arturo Dominguez-Ramirez, Luis Enrique Ramos-Velasco, Gabriel Sepulveda-Cervantes, Vicente Parra-Vega, Alejandro Jarillo-Silva, and Eduardo Alejandro Escotto-Cordova. "HRpI System Based on Wavenet Controller with Human Cooperative-in-the-Loop for Neurorehabilitation Purposes." Sensors 22, no. 20 (October 12, 2022): 7729. http://dx.doi.org/10.3390/s22207729.

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There exist several methods aimed at human–robot physical interaction (HRpI) to provide physical therapy in patients. The use of haptics has become an option to display forces along a given path so as to it guides the physiotherapist protocol. Critical in this regard is the motion control for haptic guidance to convey the specifications of the clinical protocol. Given the inherent patient variability, a conclusive demand of these HRpI methods is the need to modify online its response with neither rejecting nor neglecting interaction forces but to process them as patient interaction. In this paper, considering the nonlinear dynamics of the robot interacting bilaterally with a patient, we propose a novel adaptive control to guarantee stable haptic guidance by processing the causality of patient interaction forces, despite unknown robot dynamics and uncertainties. The controller implements radial basis neural network with daughter RASP1 wavelets activation function to identify the coupled interaction dynamics. For an efficient online implementation, an output infinite impulse response filter prunes negligible signals and nodes to deal with overparametrization. This contributes to adapt online the feedback gains of a globally stable discrete PID regulator to yield stiffness control, so the user is guided within a perceptual force field. Effectiveness of the proposed method is verified in real-time bimanual human-in-the-loop experiments.

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Kim, Jung, Hyun Kim, Boon K. Tay, Manivannan Muniyandi, Mandayam A. Srinivasan, Joel Jordan, Jesper Mortensen, Manuel Oliveira, and Mel Slater. "Transatlantic Touch: A Study of Haptic Collaboration over Long Distance." Presence: Teleoperators and Virtual Environments 13, no. 3 (June 2004): 328–37. http://dx.doi.org/10.1162/1054746041422370.

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The extent to which the addition of haptic communication between human users in a shared virtual environment (SVE) contributes to the shared experience of the users has not received much attention in the literature. In this paper we describe a demonstration of and an experimental study on haptic interaction between two users over a network of significant physical distance and a number of network hops. A number of techniques to mitigate instability of the haptic interactions induced by network latency are presented. An experiment to evaluate the use of haptics in a collaborative situation mediated by a networked virtual environment is examined. The experimental subjects were to cooperate in lifting a virtual box together under one of four conditions in a between-groups design. Questionnaires were used to report the ease with which they could perform the task and the subjective levels of presence and copresence experienced. This extends earlier work by the authors to consider the possibility of haptic collaboration under real network conditions with a number of improvements. Using the technology described in this paper, transatlantic touch was successfully demonstrated between the Touch Lab at Massachusetts Institute of Technology, USA and Virtual Environments and Computer Graphics (VECG) lab at University College London (UCL), UK in 2002. It was also presented at the Internet II demonstration meeting in 2002 between University of Southern California and the Massachusetts Institute of Technology.

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Cox, Christopher Michael Jason, Ben Hicks, James Gopsill, and Chris Snider. "FROM HAPTIC INTERACTION TO DESIGN INSIGHT: AN EMPIRICAL COMPARISON OF COMMERCIAL HAND-TRACKING TECHNOLOGY." Proceedings of the Design Society 3 (June 19, 2023): 1965–74. http://dx.doi.org/10.1017/pds.2023.197.

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AbstractAdvancements in prototyping technologies – haptics and extended reality – are creating exciting new environments to enhance stakeholder and user interaction with design concepts. These interactions can now occur earlier in the design process, transforming feedback mechanisms resulting in greater and faster iterations. This is essential for bringing right-first-time products to market as quickly as possible.While existing feedback tools, such as speak-aloud, surveys and/or questionnaires, are a useful means for capturing user feedback and reflections on interactions, there is a desire to explicitly map user feedback to their physical prototype interaction. Over the past decade, several hand-tracking tools have been developed that can, in principle, capture product user interaction.In this paper, we explore the capability of the LeapMotion Controller, MediaPipe and Manus Prime X Haptic gloves to capture user interaction with prototypes. A broad perspective of capability is adopted, including accuracy as well as the practical aspects of knowledge, skills, and ease of use. In this study, challenges in accuracy, occlusion and data processing were elicited in the capture and translation of user interaction into design insights.

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Halabi, Osama, Vytautas Daniulaitis, Haruhisa Kawasaki, Tetsuya Mouri, and Yoshio Ohtuka. "Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II." Journal of Robotics and Mechatronics 18, no. 4 (August 20, 2006): 409–17. http://dx.doi.org/10.20965/jrm.2006.p0409.

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Maintaining a stable haptic interaction with virtual environments, especially with physically-based deformable objects, has long been an active area of research. We address this issue by presenting a comprehensive haptic system architecture and virtual reality simulation, where a physically-based modeling using the Finite Element Method (FEM) combined with an “elementary displacement” approach has been implemented. This approach ensures the stability of haptic interaction with deformable objects and considers interaction with multipoints contacts. The Future Haptic Science Encyclopedia (FHSE) we developed to verify our proposal and demonstrate the new haptic interface HIRO II. We also present an objective and subjective evaluation of FHSE simulation.

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Diaz, Carlos, and Shahram Payandeh. "Multimodal Sensing Interface for Haptic Interaction." Journal of Sensors 2017 (2017): 1–24. http://dx.doi.org/10.1155/2017/2072951.

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This paper investigates the integration of a multimodal sensing system for exploring limits of vibrato tactile haptic feedback when interacting with 3D representation of real objects. In this study, the spatial locations of the objects are mapped to the work volume of the user using a Kinect sensor. The position of the user’s hand is obtained using the marker-based visual processing. The depth information is used to build a vibrotactile map on a haptic glove enhanced with vibration motors. The users can perceive the location and dimension of remote objects by moving their hand inside a scanning region. A marker detection camera provides the location and orientation of the user’s hand (glove) to map the corresponding tactile message. A preliminary study was conducted to explore how different users can perceive such haptic experiences. Factors such as total number of objects detected, object separation resolution, and dimension-based and shape-based discrimination were evaluated. The preliminary results showed that the localization and counting of objects can be attained with a high degree of success. The users were able to classify groups of objects of different dimensions based on the perceived haptic feedback.

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Viciana-Abad, Raquel, Arcadio Reyes Lecuona, and Matthieu Poyade. "The Influence of Passive Haptic Feedback and Difference Interaction Metaphors on Presence and Task Performance." Presence: Teleoperators and Virtual Environments 19, no. 3 (June 1, 2010): 197–212. http://dx.doi.org/10.1162/pres.19.3.197.

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This paper explores the influence of passive haptic feedback on presence and task performance using two important interaction metaphors. We compared direct interaction with the user's hand with interaction using a stylus. Twenty-four participants performed a simple selection task consisting of pressing buttons while playing a memory game, with haptic feedback and interaction metaphor as the independent variables. We measured task performance by computing errors and time between button presses. We measured presence with questionnaires and through a new method based on users' involuntary movements. Our results suggest that passive haptic feedback improves both presence and task performance. However, small but significant differences related to the interaction metaphor were only apparent when haptic feedback was not provided.

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Xu, Yiwen, Liangtao Huang, Tiesong Zhao, Ying Fang, and Liqun Lin. "A Timestamp-Independent Haptic–Visual Synchronization Method for Haptic-Based Interaction System." Sensors 22, no. 15 (July 23, 2022): 5502. http://dx.doi.org/10.3390/s22155502.

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The booming haptic data significantly improve the users’ immersion during multimedia interaction. As a result, the study of a Haptic-based Interaction System has attracted the attention of the multimedia community. To construct such a system, a challenging task is the synchronization of multiple sensorial signals that is critical to the user experience. Despite audio-visual synchronization efforts, there is still a lack of a haptic-aware multimedia synchronization model. In this work, we propose a timestamp-independent synchronization for haptic–visual signal transmission. First, we exploit the sequential correlations during delivery and playback of a haptic–visual communication system. Second, we develop a key sample extraction of haptic signals based on the force feedback characteristics and a key frame extraction of visual signals based on deep-object detection. Third, we combine the key samples and frames to synchronize the corresponding haptic–visual signals. Without timestamps in the signal flow, the proposed method is still effective and more robust in complicated network conditions. Subjective evaluation also shows a significant improvement of user experience with the proposed method.

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Chehabeddine, Said, Muhammad Hassan Jamil, Wanjoo Park, Dianne L. Sefo, Peter M. Loomer, and Mohamad Eid. "Bi-manual Haptic-based Periodontal Simulation with Finger Support and Vibrotactile Feedback." ACM Transactions on Multimedia Computing, Communications, and Applications 17, no. 1 (April 16, 2021): 1–17. http://dx.doi.org/10.1145/3421765.

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The rise of virtual reality and haptic technologies has created exciting new applications in medical training and education. In a dental simulation, haptic technology can create the illusion of substances (teeth, gingiva, bone, etc.) by providing interaction forces within a simulated virtual world of the mouth. In this article, a haptic periodontal training simulation system, named Haptodont, is developed and evaluated for simulating periodontal probing. Thirty-two faculty members from New York University College of Dentistry were recruited and divided into three groups to evaluate three fundamental functionalities: Group 1 evaluated bi-manual 3 Degrees of Freedome (DoF) haptic interaction, Group 2 evaluated bi-manual 3 DoF haptic interaction with a finger support mechanism, and Group 3 evaluated bi-manual 3 DoF haptic interaction with finger support mechanism and vibrotactile feedback. The probe and mirror interactions were simulated with the Geomagic Touch haptic device whereas the finger support was implemented using the Novint Falcon device. The three groups conducted two probing tasks: healthy gingiva scenario with no pockets (2- to 3-mm depth) and periodontitis scenario with deep pockets (4- to 8-mm depth). Results demonstrated that experts performed comparably to clinical settings in terms of probing depth error (within 0.3 to 0.6 mm) and probing forces (less than 0.5 N). Furthermore, the finger support mechanism significantly improved the probing accuracy for periodontitis condition in the lingual region. The argument that probing the lingual region is more difficult than the buccal region is supported by quantitative evidence (significantly higher probing depth error and probing force). Further research is planned to improve the usability of the finger support, integrate the Haptodont system into the pre-clinical curriculum, and evaluate the Haptodont system with dental students as a learning tool.

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Young, Gareth W., Néill O’Dwyer, Mauricio Flores Vargas, Rachel Mc Donnell, and Aljosa Smolic. "Feel the Music!—Audience Experiences of Audio–Tactile Feedback in a Novel Virtual Reality Volumetric Music Video." Arts 12, no. 4 (July 13, 2023): 156. http://dx.doi.org/10.3390/arts12040156.

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The creation of imaginary worlds has been the focus of philosophical discourse and artistic practice for millennia. Humans have long evolved to use media and imagination to express their inner worlds outwardly via artistic practice. As a fundamental factor of fantasy world-building, the imagination can produce novel objects, virtual sensations, and unique stories related to previously unlived experiences. The expression of the imagination often takes a narrative form that applies some medium to facilitate communication, for example, books, statues, music, or paintings. These virtual realities are expressed and communicated via multiple multimedia immersive technologies, stimulating modern audiences via their combined Aristotelian senses. Incorporating interactive graphic, auditory, and haptic narrative elements in extended reality (XR) permits artists to express their imaginative intentions with visceral accuracy. However, these technologies are constantly in flux, and the precise role of multimodality has yet to be fully explored. Thus, this contribution to Feeling the Future—Haptic Audio explores the potential of novel multimodal technology to communicate artistic expression via an immersive virtual reality (VR) volumetric music video. We compare user experiences of our affordable volumetric video (VV) production to more expensive commercial VR music videos. Our research also inspects audio–tactile interactions in the auditory experience of immersive music videos, where both auditory and haptic channels receive vibrations during the imaginative virtual performance. This multimodal interaction is then analyzed from the audience’s perspective to capture the user’s experiences and examine the impact of this form of haptic feedback in practice via applied human–computer interaction (HCI) evaluation practices. Our results demonstrate the application of haptics in contemporary music consumption practices, discussing how they affect audience experiences regarding functionality, usability, and the perceived quality of a musical performance.

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Wang, Yang, Lei Feng, and Kjell Andersson. "Haptic force rendering of rigid-body interactions: A systematic review." Advances in Mechanical Engineering 13, no. 9 (September 2021): 168781402110415. http://dx.doi.org/10.1177/16878140211041538.

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Haptic rendering has been developing for decades with different rendering approaches and many factors that affect the stability when rendering rigid-body interactions have been investigated. To get an overall understanding of the challenges in haptic rendering, we approach this topic by conducting a systematic review. This review examines different haptic rendering approaches and how to deal with instability factors in rendering. A total of 25 papers are reviewed to answer the following questions: (1) what are the most common haptic rendering approaches for rigid-body interaction? and (2) what are the most important factors for instability of haptic rendering and how to address them? Through the process of investigating these questions, we get the insight that transparency can be further explored and technical terms to describe haptic rendering can be more standardized to push the topic forward.

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Carson, Iain, Aaron Quigley, Loraine Clarke, and Uta Hinrichs. "Investigating the Effect of Sensory Concurrency on Learning Haptic Spatiotemporal Signals." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 5, no. 1 (March 19, 2021): 1–30. http://dx.doi.org/10.1145/3448102.

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A new generation of multimodal interfaces and interactions is emerging. Drawing on the principles of Sensory Substitution and Augmentation Devices (SSADs), these new interfaces offer the potential for rich, immersive human-computer interactions, but are difficult to design well, and take time to master, creating significant barriers towards wider adoption. Following a review of the literature surrounding existing SSADs, their metrics for success and their growing influence on interface design in Human Computer Interaction, we present a medium term (4-day) study comparing the effectiveness of various combinations of visual and haptic feedback (sensory concurrencies) in preparing users to perform a virtual maze navigation task using haptic feedback alone. Participants navigated 12 mazes in each of 3 separate sessions under a specific combination of visual and haptic feedback, before performing the same task using the haptic feedback alone. Visual sensory deprivation was shown to be inferior to visual & haptic concurrency in enabling haptic signal comprehension, while a new hybridized condition combining reduced visual feedback with the haptic signal was shown to be superior. Potential explanations for the effectiveness of the hybrid mechanism are explored, and the scope and implications of its generalization to new sensory interfaces is presented.

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Marshall, Alan, Kian Meng Yap, and Wai Yu. "Providing QoS for Networked Peers in Distributed Haptic Virtual Environments." Advances in Multimedia 2008 (2008): 1–14. http://dx.doi.org/10.1155/2008/841590.

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Haptic information originates from a different human sense (touch), therefore the quality of service (QoS) required to support haptic traffic is significantly different from that used to support conventional real-time traffic such as voice or video. Each type of network impairment has different (and severe) impacts on the user's haptic experience. There has been no specific provision of QoS parameters for haptic interaction. Previous research into distributed haptic virtual environments (DHVEs) have concentrated on synchronization of positions (haptic device or virtual objects), and are based on client-server architectures. We present a new peer-to-peer DHVE architecture that further extends this to enable force interactions between two users whereby force data are sent to the remote peer in addition to positional information. The work presented involves both simulation and practical experimentation where multimodal data is transmitted over a QoS-enabled IP network. Both forms of experiment produce consistent results which show that the use of specific QoS classes for haptic traffic will reduce network delay and jitter, leading to improvements in users' haptic experiences with these types of applications.

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Wang, Zheng, Elias Giannopoulos, Mel Slater, and Angelika Peer. "Handshake: Realistic Human-Robot Interaction in Haptic Enhanced Virtual Reality." Presence: Teleoperators and Virtual Environments 20, no. 4 (August 1, 2011): 371–92. http://dx.doi.org/10.1162/pres_a_00061.

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This paper focuses on the development and evaluation of a haptic enhanced virtual reality system which allows a human user to make physical handshakes with a virtual partner through a haptic interface. Multimodal feedback signals are designed to generate the illusion that a handshake with a robotic arm is a handshake with another human. Advanced controllers of the haptic interface are developed to respond to user behaviors online. Techniques to achieve online behavior generation are presented, such as a hidden-Markov-model approach to human interaction strategy estimation. Human-robot handshake experiments were carried out to evaluate the performance of the system. Two different approaches to haptic rendering were compared in experiments: a controller in basic mode with an embedded curve in the robot that disregards the human partner, and an interactive robot controller for online behavior generation. The two approaches were compared with the ground truth of another human driving the robot via teleoperation instead of the controller implementing a virtual partner. In the evaluation results, the human approach is rated to be most human-like, with the interactive controller following closely behind, followed by the controller in basic mode. This paper mainly concentrates on discussing the development of the haptic rendering algorithm for the handshaking system, its integration with visual and haptic cues, and reports about the results of subjective evaluation experiments that were carried out.

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Liu, Lan Hai, Satoshi Miyake, Katsuhito Akahane, and Makoto Sato. "A Proposal of a Haptic System for Real-Time Interaction with Clay-Like Objects." Advanced Materials Research 1079-1080 (December 2014): 631–37. http://dx.doi.org/10.4028/www.scientific.net/amr.1079-1080.631.

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People often interact with deformable objects when they are kneading clay or making traditional desserts, either directly with their hands and fingers or through tools. Haptic interactions with virtual clay-like objects would significantly make the simulations more interesting and more real. However, to achieve a stable and real-time simulation of a clay-like particle system with high viscosity is challenging. In this research, we propose a novel method that allows real-time haptic interaction with clay-like objects. The particle system is based on a SPH(Smoothed-Particle Hydrodynamics) model, and the procedure of the conventional SPH method for fluid simulation is improved for simulating a particle system especially of high viscosity. The haptic rendering is done by a string-based haptic interface SPIDAR-G. We evaluate the performance and the stability of the proposed method in the end.

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Mercado, Victor Rodrigo, Maud Marchal, and Anatole Lecuyer. "“Haptics On-Demand”: A Survey on Encountered-Type Haptic Displays." IEEE Transactions on Haptics 14, no. 3 (July 1, 2021): 449–64. http://dx.doi.org/10.1109/toh.2021.3061150.

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Costes, Antoine, Fabien Danieau, Ferran Argelaguet, Philippe Guillotel, and Anatole Lecuyer. "Towards Haptic Images: A Survey on Touchscreen-Based Surface Haptics." IEEE Transactions on Haptics 13, no. 3 (July 1, 2020): 530–41. http://dx.doi.org/10.1109/toh.2020.2984754.

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Prados, Francisco J. R., Alejandro León Salas, and Juan Carlos Torres. "Haptic Interaction with Elastic Volumetric Structures." International Journal of Creative Interfaces and Computer Graphics 3, no. 1 (January 2012): 63–73. http://dx.doi.org/10.4018/jcicg.2012010105.

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Considerable efforts have been done to produce realistic results when simulating interaction with elastic materials. Many applications such as surgery planning, medical training, or virtual sculpting would benefit from a plausible simulation scenario. However, even though many works have proposed very satisfactory results, realistic simulation of deformable bodies is still an open issue. One of the challenges when designing a realistic elastic body simulation is the huge amount of data that needs to be processed. For the inner properties of the material are crucial when it comes to reproduce the elastic problem, the simulation naturally calls for volumetric information. In this paper the authors propose a technique to interactively deform 3D images, such as those acquired by a CT scanner. While producing a physically plausible haptic feedback, deformation and visualization algorithms produce an efficient and natural feeling. Using a free form deformation structure as a wrapper, it is possible to deform complex structures at high frame rates, independently of the size of the volume.

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Wang, Huanran, and Xiaoping P. Liu. "Haptic Interaction for Mobile Assistive Robots." IEEE Transactions on Instrumentation and Measurement 60, no. 11 (November 2011): 3501–9. http://dx.doi.org/10.1109/tim.2011.2161141.

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Adams, R. J., and B. Hannaford. "Stable haptic interaction with virtual environments." IEEE Transactions on Robotics and Automation 15, no. 3 (June 1999): 465–74. http://dx.doi.org/10.1109/70.768179.

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Nakao, M., K. Minato, T. Kuroda, M. Komori, H. Oyama, and T. Takahashi. "Transferring Bioelasticity Knowledge through Haptic Interaction." IEEE Multimedia 13, no. 3 (July 2006): 50–60. http://dx.doi.org/10.1109/mmul.2006.70.

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Journal articles on the topic 'Haptic Interaction'

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