Influence of visual and haptic delays on stiffness perception in augmented reality

Knörlein, Benjamin; Luca, Massimiliano Di; Harders, Matthias

doi:10.1109/ismar.2009.5336501

Cited by 54 publications

(23 citation statements)

References 15 publications

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“…It was shown that delays in the visual modality alone caused an increase in perceived surface stiffness and that delays in the haptic modality alone caused a decrease in perceived surface stiffness. Simultaneous delays in both the visual and haptic modalities are shown to partly cancel out these changes in perceived surface stiffness [14].…”

Section: B Cognitive Limitationsmentioning

confidence: 90%

Challenges in the Deployment of Visuo-Haptic Virtual Environments on the Internet

Norman

Hamza-Lup

2010

2010 Second International Conference on Computer and Network Technology

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Haptic sensory feedback has been shown to complement the visual and auditory senses, improve user performance and provide a greater sense of togetherness in collaborative and interactive virtual environments. However, we are faced with numerous challenges when deploying these systems over the present day Internet. The most significant of these challenges are the network performance limitations of the Wide Area Networks. In this paper, we offer a structured examination of the current challenges in the deployment of haptic-based distributed systems by analyzing the recent advances in the understanding of these challenges and the progress that has been made to overcome them.

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Section: B Cognitive Limitationsmentioning

confidence: 90%

Challenges in the Deployment of Visuo-Haptic Virtual Environments on the Internet

Norman

Hamza-Lup

2010

2010 Second International Conference on Computer and Network Technology

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“…Although the visual feedback provided in AR differs greatly from VR, the same perceptual bias concerning depth or distance estimation has also been observed in AR [8]. Then, Knorlein et al [11] observed that a delay in force-feedback in AR could give the impression that a virtual object was softer. A similar effect had also been found in a VR context [16].…”

Section: Related Workmentioning

confidence: 95%

AR Feels “Softer” than VR: Haptic Perception of Stiffness in Augmented versus Virtual Reality

Gaffary

Gouis

Marchal

et al. 2017

IEEE Trans. Visual. Comput. Graphics

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Does it feel the same when you touch an object in Augmented Reality (AR) or in Virtual Reality (VR)? In this paper we study and compare the haptic perception of stiffness of a virtual object in two situations: (1) a purely virtual environment versus (2) a real and augmented environment. We have designed an experimental setup based on a Microsoft HoloLens and a haptic force-feedback device, enabling to press a virtual piston, and compare its stiffness successively in either Augmented Reality (the virtual piston is surrounded by several real objects all located inside a cardboard box) or in Virtual Reality (the same virtual piston is displayed in a fully virtual scene composed of the same other objects). We have conducted a psychophysical experiment with 12 participants. Our results show a surprising bias in perception between the two conditions. The virtual piston is on average perceived stiffer in the VR condition compared to the AR condition. For instance, when the piston had the same stiffness in AR and VR, participants would select the VR piston as the stiffer one in 60% of cases. This suggests a psychological effect as if objects in AR would feel "softer" than in pure VR. Taken together, our results open new perspectives on perception in AR versus VR, and pave the way to future studies aiming at characterizing potential perceptual biases.

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“…It has been shown, for example, in [21] and [22], that when haptic delays are present, the person using the haptic device perceives the force feedback to be weaker than it is in actuality. In order for the operator to feel the forces with the strength that they were intended to have, the delay caused by the computation of the force feedback should be minimized.…”

Section: Haptic Swarm Controlmentioning

confidence: 99%

Team-level properties for haptic human-swarm interactions

Setter

Kawashima

Egerstedt

2015

2015 American Control Conference (ACC)

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This paper explores how haptic interfaces should be designed to enable effective human-swarm interactions. When a single operator is interacting with a team of mobile robots, there are certain properties of the team that may help the operator complete the task at hand if these properties were fed back via haptics. However, not all team-level properties may be particularly well-suited for haptic feedback. In this paper, characteristics that make a property of a multi-agent system appropriate for haptic feedback are defined. The focus here is on leader-follower networks, in which one robot, the socalled leader, is controlled via an operator with a haptic device, whereas the remaining robots, the so-called followers, are tasked with maintaining distances between one another. Multi-agent manipulability, a property which describes how effective the leader is at controlling the movement of the followers, is proposed as one such appropriate property for haptic feedback in a human-swarm interaction scenario. Manipulability feedback is implemented using a PHANTOM Omni haptic joystick and experiments in which a team of mobile robots is controlled via a human operator with access to this feedback show that this is viable in practice.

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Influence of visual and haptic delays on stiffness perception in augmented reality

Cited by 54 publications

References 15 publications

Challenges in the Deployment of Visuo-Haptic Virtual Environments on the Internet

Challenges in the Deployment of Visuo-Haptic Virtual Environments on the Internet

AR Feels “Softer” than VR: Haptic Perception of Stiffness in Augmented versus Virtual Reality

Team-level properties for haptic human-swarm interactions

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