HairTouch: Providing Stiffness, Roughness and Surface Height Differences Using Reconfigurable Brush Hairs on a VR Controller

Lee, Chi-Jung; Tsai, Hsin-Ruey; Chen, Bing‐Yu

doi:10.1145/3411764.3445285

Cited by 19 publications

(10 citation statements)

References 45 publications

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“…These include tabletop devices Shape-A-Getti [15], a graspable haptic device capable of rapidly transitioning between various radially symmetrical shapes using a single actuator, Laina [16], a 2.5D shape-changing display, and Materiable [14], a pin-based shape display that can generate computationally adjustable attributes for deformable materials of virtual objects. In addition, several portable devices have been developed, such as HairTouch [17], which employs a pin-based structure and hairs' properties to convey the shape, stiffness, and roughness of virtual objects to a user's index finger, PoCoPo [18], a portable device capable of instantly rendering diverse 2.5D shapes and simulating skin contact sensation on the user's palm and fingers, and a humantriggered haptic device utilizing curved origami [19], which enables users to actively perceive objects with variable stiffness, spanning from soft to hard. These devices typically face limitations such as the absence of rotational resistive force generation [14], [16], [17], [18], restricted mobility [14], [15], [16], incapacity to meet high force demands [14], [15], [16], [17], [19], complexity [16], [18], and large latency [14], [16].…”

Section: A Haptic Devices Providing Cutaneous and Kinesthetic Feedbackmentioning

confidence: 99%

“…Over the past decade, the uses of various haptic devices were observed to simulate cutaneous and kinesthetic haptic interactions. For example, touchable pin-based shape-changing interfaces [14], [15], [16], [17], [18], [19] and wearable tactile devices [20], [21], [22], [23] have been developed to provide cutaneous haptic interactions (or feedback) in VR systems. Wand-based controllers [24], [25], [26], [27] and wearable devices with vibrotactile feedback [28], [29], [30] have been developed to provide kinesthetic haptic interaction in VR systems.…”

Section: Introductionmentioning

confidence: 99%

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Evaluating Visual-Spatiotemporal Co-Registration of a Physics-Based Virtual Reality Haptic Interface

Mubarrat,

Chowdhury,

Fernandes

2024

IEEE Access

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This study aimed to evaluate the visual-spatiotemporal co-registration of the real and virtual objects' movement dynamics in a low-cost physics-based virtual reality (VR) system that provides real cutaneous and kinesthetic haptic feedback of the objects instead of computer-generated haptic feedback. Twelve healthy participants performed three human-robot collaborative (HRC) sequential pick-and-place lifting tasks while both motion capture and VR systems respectively traced the movement kinematics of the real and virtual objects. We used an iterative closest point algorithm to transform the 3D spatial point clouds of the VR system into the motion capture system. We employed a novel algorithm and principal component analysis to respectively calculate visual and spatiotemporal co-registration precisions between virtual and real objects. Results showed a high correlation (r > 0.96) between real and virtual objects' movement dynamics and linear and angular co-registration errors of less than 5 cm and 8°, respectively. The trend also revealed a low temporal registration error of <12 ms and was only found along the vertical axis. The visual registration data indicated that the real cutaneous and kinesthetic haptics provided by the physical objects in the virtual environment enhanced proprioception and visuomotor functions of the users.

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Section: A Haptic Devices Providing Cutaneous and Kinesthetic Feedbackmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Evaluating Visual-Spatiotemporal Co-Registration of a Physics-Based Virtual Reality Haptic Interface

Mubarrat,

Chowdhury,

Fernandes

2024

IEEE Access

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“…There have been previous studies relating to the development of haptic displays that can provide users with the experience of touching specific targets [17], [18], [19]. For example, Lee et al developed HairTouch, which allows users to feel the sensation of touching a hairy surface by actuating real brush hairs [20]. The display can control the perceived roughness and stiffness of the hair.…”

Section: B Providing Experience Of Touching Specific Targets Using Ha...mentioning

confidence: 99%

Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing

Ujitoko,

Ban

2023

IEEE Trans. Haptics

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Things that people desire to touch in daily life are known to be limited to a number of specific targets (e.g., cats). The utilization of haptic displays to provide the experience of touching such desired targets is expected to enhance people's quality of life. However, it is currently unclear which haptic properties (e.g., hardness and weight) of desired targets should be rendered with haptic displays, and how they should be rendered. To address these issues, we conducted an experiment with 600 Japanese participants via crowdsourcing. From among the 600 participants, we identified potential users of haptic displays and analyzed their responses for each target. For each desired target, we identified the haptic properties in relation to which a "need for consistency" was felt by potential users between their expectations and actual impressions during touching. We also identified the haptic properties in relation to which a "biased impression" was held by potential users for each target. For example, potential users expected cats to be soft, and therefore the actual impression of softness that is experienced during touching should be consistent with this expectation. Our results provide insights into the design of haptic displays for realizing desired touch experiences.

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“…For example, the Haptic Revolver (Whitmire et al, 2018) which can dynamically change the haptically perceived material when touching virtual objects' surfaces. HairTouch (Lee et al, 2021) dynamically renders stiffness, roughness and surface height differences realistically using reconfigurable brush hairs as a proxy. Finally, Snaker Charmer (Araujo et al, 2016) is an encounter-type haptic device consisting of a robotic arm with a box as an end-effector.…”

Section: Haptic Feedback For Virtual Realitymentioning

confidence: 99%

MetaReality: enhancing tactile experiences using actuated 3D-printed metamaterials in Virtual Reality

Feick

Degraen

Hupperich

et al. 2023

Front. Virtual Real.

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During interaction with objects in Virtual Reality haptic feedback plays a crucial role for creating convincing immersive experiences. Recent work building upon passive haptic feedback has looked towards fabrication processes for designing and creating proxy objects able to communicate objects’ properties and characteristics. However, such approaches remain limited in terms of scalability as for each material a corresponding object needs to be fabricated. To create more flexible 3D-printed proxies, we explore the potential of metamaterials. To this aim, we designed metamaterial structures able to alter their tactile surface properties, e.g., their hardness and roughness, upon lateral compression. In this work, we designed five different metamaterial patterns based on features that are known to affect tactile properties. We evaluated whether our samples were able to successfully convey different levels of roughness and hardness sensations at varying levels of compression. While we found that roughness was significantly affected by compression state, hardness did not seem to follow the same pattern. In a second study, we focused on two metamaterial patterns showing promise for roughness perception and investigated their visuo-haptic perception in Virtual Reality. Here, eight different compression states of our two selected metamaterials were overlaid with six visual material textures. Our results suggest that, especially at low compression states, our metamaterials were the most promising ones to match the textures displayed to the participants. Additionally, when asked which material participants perceived, adjectives, such as “broken” and “damaged” were used. This indicates that metamaterial surface textures could be able to simulate different object states. Our results underline that metamaterial design is able to extend the gamut of tactile experiences of 3D-printed surfaces structures, as a single sample is able to reconfigure its haptic sensation through compression.

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HairTouch: Providing Stiffness, Roughness and Surface Height Differences Using Reconfigurable Brush Hairs on a VR Controller

Cited by 19 publications

References 45 publications

Evaluating Visual-Spatiotemporal Co-Registration of a Physics-Based Virtual Reality Haptic Interface

Evaluating Visual-Spatiotemporal Co-Registration of a Physics-Based Virtual Reality Haptic Interface

Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing

MetaReality: enhancing tactile experiences using actuated 3D-printed metamaterials in Virtual Reality

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