Abstract
We propose a novel wearable haptic device that can provide kinesthetic haptic feedback for stiffness rendering of virtual objects in augmented reality (AR). Rendering stiffness of objects using haptic feedback is crucial for realistic finger-based object manipulation, yet challenging particularly in AR due to the co-presence of a real hand, haptic device, and rendered AR objects in the scenes. By adopting passive actuation with a tendon-based transmission mechanism, the proposed haptic device can generate kinesthetic feedback strong enough for immersive manipulation and prevention of inter-penetration in a small-form-factor, while maximizing the wearability and minimizing the occlusion in AR usage. A selective locking module is adopted in the device to allow for the rendering of the elasticity of objects. We perform an experimental study of two-finger grasping to verify the efficacy of the proposed haptic device for finger-based manipulation in AR. We also quantitatively compare/articulate the effects of different types of feedbacks across haptic and visual sense (i.e., kinesthetic haptic feedback, vibrotactile haptic feedback, and visuo-haptic feedback) for stiffness rendering of virtual objects in AR for the first time.
Highlights
With the recent drastic advancement of sensing hardware along with estimation algorithms, the techniques for virtual reality (VR) and augmented reality (AR) have been tremendously researched and employed for many real-world engineering applications such as telerobotics [1,2], medical training [3], and brain–computer interface technology [4]
This means that, the value slightly lacks for rendering perfectly rigid objects, it is still larger than oe or any other feedback, which certifies that the kinesthetic haptic feedback is suitable than any other feedback for rendering fairly stiff objects in the AR environment
We propose a novel wearable haptic device generating multiple kinesthetic haptic feedback in a small form-factor, which is desirable for stiffness rendering of virtual objects for realistic AR finger-based manipulation
Summary
With the recent drastic advancement of sensing hardware along with estimation algorithms, the techniques for virtual reality (VR) and augmented reality (AR) have been tremendously researched and employed for many real-world engineering applications such as telerobotics [1,2], medical training [3], and brain–computer interface technology [4]. Kinesthetic haptic devices would be a standard setup for rendering stiffness, which can directly reproduce kinematic/dynamic aspects of interaction with an object [11,12,13]. They are still normally bulky/heavy hardware with an expensive prices [14,15,16] which is not suitable for public usage. Cutaneous haptic devices (CHDs) are utilized, which can deliver stiffness via skin deformation of finger-tips [9,11,17], or vibrotactile haptic devices, which have the simplest structure for implementation, are researched by modulating amplitude and frequency of vibration to deliver an illusion of stiffness [10,18]. In addition to employing a real haptic device, only utilizing visuo-haptic (i.e., pseudo-haptic) feedback [18,19] can provide a sense of stiffness to some extent without requiring additional devices
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