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Pseudo-Haptics and Interaction Techniques to Improve
Integration of Haptics in VE
A. Lécuyer, [email protected]
www.irisa.fr/bunraku/GENS/alecuyer/
IEEE VR 2008 Tutorial : « Integration of Haptics in VE », March 9th, Reno, US
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Outline
IntroductionPseudo-haptic texturing
Pseudo-haptic techniqueApplications
Haptic interaction techniques for VETechnique for under-actuated devicesTechnique for small workspaces
Conclusion
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Introduction
Importance of perception in the design of virtual reality set-upExample : Not collocated vs. Collocated?
vs.
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Influence of spatial collocation
Psychophysical experimentMeasure the weight of both the visual and haptic informationResults : when vision and touch are not collocated the weight ofhaptics decreases (=vision dominates much more)
Strong impact on VR Set-ups
(Congedo, Lécuyer and Gentaz, Presence, 2006)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Influence of C/D ratio
Control/Display ratio = “Visual gain” of the mouseInfluence on perception of mass of virtual objects? Psychophysical experiment :
>> visual motion amplification makes haptic objects feel lighter
Impact in haptic simulations
video
(Dominjon et al., IEEE VR, 2005)
Pseudo-haptic textures
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Objective
Simulate tactile sensations related to textures Give the feeling of touching images
No use of haptic device
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Pseudo-haptic textures
Modify the motion (speed) of the cursor Change the Control/Display gain as function of the heightSimulation of a bump:
Unchanged motion of the cursor
Decelerated motion
Bump (as displayed on the screen, i.e. in top-view)
Unchanged motion of the cursor
Accelerated motion
(Lécuyer et al., ACM CHI, 2004)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Bumps and holes (video)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
« Tactile images »
Generic algorithm Web demos : www.inria.fr/tactiles
Video
Video
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Pseudo-haptic textures 2 : the “size technique”
Second pseudo-haptic technique : the “size technique”Concept : change the size of the cursor (zoom-in and out)Simulation of a Hole :
Hole displayed on the screen
(i.e. in top -view)
Disk-shape cursor
Video Bump
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Experimental evaluation
Five experiments (see paper) Combination of both techniques
Conflict situation : Bump (Speed technique) and Hole (Size technique) at the same time
Main results 1. Size technique slightly dominated speed technique2. The consistent combination of
both size and speed technique performs better
Videoconflict
Green cursor
White mask
(Lécuyer et al., ACM TAP, in press)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Pseudo-haptic feedbackSimulation of haptic properties using visuo-haptic combination : friction, stiffness, weight, texturesTransfer into several applications: training, medical, entertainment, etc
www.irisa.fr/bunraku/GENS/alecuyerwww.irisa.fr/bunraku/GENS/alecuyer
(Lécuyer et al., IEEE VR, 2000 and 2001)
Bibin (Univ. Paris 5) « Peripheral nerve Blocks on DVD : Lower and upper limbs », LippincottWilliams & Wilkins
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Outline
IntroductionPseudo-haptic texturing
Pseudo-haptic techniqueApplications
Haptic interaction techniques for VETechnique for under-actuated devicesTechnique for small workspaces
Conclusion
“A4”: A Technique to Improve Perception of Contacts
with Under-Actuated Haptic Devices
α
b
N
A2
A2
A3 A1
Rotation motion
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Under-actuation?
More sensors than actuators : Ns > NaPHANToM OMNI is under-actuated in rotationWearable haptic devices ***
Problems : unrealistic sensations of contact [Barbagli and Salisbury, 2003]Focus of our study:
Point-based interactionCartesian devices
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
A4 technique
Concept Rotation of the scene in case of contact
α
b
N
A2
A2
A3 A1
Rotation motion
a
N
Virtual object of the scene
Manipulated object
A2
A3 A1
c A2
N
N is now aligned with A2
A2
A3 A1
Automatic Alignment with the Actuated Axes of the device (A.A.A.A or « A4 »)
(Lécuyer et al., WorldHaptics, 2005)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Experimental evaluation
Experimental task Follow the contour of virtual objects in 2D
Results Positive influence of A4 on performance in under-actuation cases>> Use A4 in applications where haptic perception is fundamental
O3
O1 O2
O4
v i d e ov i d e o
Using haptic devices with limited workspace : Haptic Hybrid Control
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Bubble technique
Translation and point-based interaction (cursor) « Bubble » displayUse Hybrid Position/Rate Control (e.g. Microsoft Excel)Use Force-Feedback to emulate elastic input device
(Dominjon et al., LNCS, 2006)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Evaluation of BubblePainting task PHANToM in a CAVE3 Conditions
Bubble vs. Clutching vs. Scaling
video
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Results
Bubble as fast as ScalingBest paintings with BubbleHigh subjective preference
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Haptic Hybrid Rotations
Context6D Manipulation of objectsLarge rotations
Virtual shapes : cone, torsion springs
boundingvirtual cone
device handle
(Dominjon et al., IEEE VR, 2006)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Evaluation of Haptic Hybrid Rotations
Task : Build a pyramid of blocks3 Conditions
Clutching Scaling Haptic Hybrid Rotations
ResultsHaptic Hybrid Rotations are significantly fasterNo significant loss of accuracySubjectively preferred
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Haptic Hybrid Control
Interaction paradigm to use haptic interfaces with limited workspace in large VE :
> Bubble Technique (translations) > Haptic Hybrid Rotations (rotations)
Fast motions, precise actions, subjective preferenceIntegrated in VIRTUOSE API (Haption Company)
(Dominjon et al., Visual Computer, 2007)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
General ConclusionKnowledge in perception may influence VR design
Influence of spatial collocation of visual and haptic displays on multimodal integrationInfluence of C/D ratio on haptic perception
Pseudo-haptic textures Techniques that do not use haptic interfaces : “size” and “speed”of the cursorMany applications : entertainment, training, GUI, etc
Interaction techniques may improve integration of hapticsin VE
Under-actuated devices : the “A4” techniqueLimited workspace : Haptic Hybrid Control = Bubble technique, Haptic Hybrid Rotations
A. Lécuyer, INRIA, [email protected]/bunraku/GENS/alecuyer
IEEE VR 2008 Tutorial : « Integration of Haptics in VE », March 9th, Reno, US
Pseudo-Haptics and Interaction Techniques to Improve
Integration of Haptics in VE
QQuestions?uestions?
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Introduction
Force-feedback devices have a limited workspaceDifficult to make large motions with objects Difficult to reach far objects
How to « go beyond the limits of haptic interfaces »?
video
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Clutching technique« Freeze » the virtual object
Temporarily suspend the mapping motion
DrawbacksAwkward [Preusche et al., 00]Slow [Zhai, 96]
video
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Scaling technique
Amplification of user’s motionNon-isomorphic rotations [Poupyrev et al., 00]
DrawbacksDifficult to control, accuracy ? [Poupyrev et al., 00]Can not apply « infinite » rotations
video
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Results
Haptic Hybrid Rotations are significantly fasterNo significant loss of accuracySubjectively preferred
0
50
100
150
200
250
300
scaling clutching hybrid
total task completion time (s)
A. Lécuyer, « Pseudo-Haptics and Interaction Techniques »
Medical simulator
Training to nerve stimulation in regional anesthesia Palpation before insertion of needlePseudo-haptics : detection of hollow, organs
Bibin (Univ. Paris 5) « Peripheral nerve Blocks on DVD : Lower and upper limbs », Lippincott Williams & Wilkins
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