research-article

Altering the Stiffness, Friction, and Shape Perception of Tangible Objects in Virtual Reality Using Wearable Haptics

Authors:

Steeven Villa Salazar,

Claudio Pacchierotti,

Xavier de Tinguy,

Anderson Maciel,

Maud MarchalAuthors Info & Claims

IEEE Transactions on Haptics, Volume 13, Issue 1

Pages 167 - 174

https://doi.org/10.1109/TOH.2020.2967389

Published: 01 January 2020 Publication History

Abstract

Tangible objects are used in virtual reality (VR) and augmented reality (AR) to enhance haptic information on the general shape of virtual objects. However, they are often passive or unable to simulate rich varying mechanical properties. This article studies the effect of combining simple passive tangible objects and wearable haptics for improving the display of varying stiffness, friction, and shape sensations in these environments. By providing timely cutaneous stimuli through a wearable finger device, we can make an object feel softer or more slippery than it really is, and we can also create the illusion of encountering virtual bumps and holes. We evaluate the proposed approach carrying out three experiments with human subjects. Results confirm that we can increase the compliance of a tangible object by varying the pressure applied through a wearable device. We are also able to simulate the presence of bumps and holes by providing timely pressure and skin stretch sensations. Altering the friction of a tangible surface showed recognition rates above the chance level, albeit lower than those registered in the other experiments. Finally, we show the potential of our techniques in an immersive medical palpation use case in VR. These results pave the way for novel and promising haptic interactions in VR, better exploiting the multiple ways of providing simple, unobtrusive, and inexpensive haptic displays.

References

[1]

S. Lee and G. J. Kim, “Effects of haptic feedback, stereoscopy, and image resolution on performance and presence in remote navigation,” Int. J. Human-Comput. Studies, vol. 66, pp. 701–717, 2008.

Digital Library

[2]

B. Insko, “Passive haptics significantly enhances virtual environments,” Ph.D. dissertation, Dept. Comput. Sci., Univ. North Carolina Chapel Hill, Chapel Hill, NC, USA, 2001.

[3]

A. D. Cheok, X. Yang, Z. Z. Ying, M. Billinghurst, and H. Kato, “Touch-space: Mixed reality game space based on ubiquitous, tangible, and social computing,” Personal Ubiquitous Comp., vol. 6, no. 5-6, pp. 430–442, 2002.

Digital Library

[4]

H. Ishii, D. Leithinger, S. Follmer, A. Zoran, P. Schoessler, and J. Counts, “Transform: Embodiment of radical atoms at milano design week,” in Proc. CHI, 2015, pp. 687–694.

[5]

C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, and D. Prattichizzo, “Wearable haptic systems for the fingertip and the hand: Taxonomy, review, and perspectives,” IEEE Trans. Haptics, vol. 10, no. 4, pp. 580–600, Oct.–Dec. 2017.

Digital Library

[6]

S. B. Schorr and A. M. Okamura, “Fingertip tactile devices for virtual object manipulation and exploration,” in Proc. CHI, 2017, pp. 3115–3119.

[7]

D. Leonardis, M. Solazzi, I. Bortone, and A. Frisoli, “A 3-RSR haptic wearable device for rendering fingertip contact forces,” IEEE Trans. Haptics, vol. 10, no. 3, pp. 305–316, Jul.–Sep. 2017.

[8]

M. Maisto, C. Pacchierotti, F. Chinello, G. Salvietti, A. De Luca, and D. Prattichizzo, “Evaluation of wearable haptic systems for the fingers in augmented reality applications,” IEEE Trans. Haptics, vol. 10, no. 4, pp. 511–522, Oct.–Dec. 2017.

Digital Library

[9]

F. Chinello, C. Pacchierotti, M. Malvezzi, and D. Prattichizzo, “A three revolute-revolute-spherical wearable fingertip cutaneous device for stiffness rendering,” IEEE Trans. Haptics, vol. 11, no. 1, pp. 39–50, Jan.–Mar. 2018.

[10]

H. Kim, M. Kim, and W. Lee, “Hapthimble: A wearable haptic device towards usable virtual touch screen,” in Proc. CHI, 2016, pp. 3694–3705.

[11]

S. Je, B. Rooney, L. Chan, and A. Bianchi, “Tactoring: A skin-drag discrete display,” in Proc. CHI, 2017, pp. 3106–3114.

[12]

M. Gabardi, M. Solazzi, D. Leonardis, and A. Frisoli, “A new wearable fingertip haptic interface for the rendering of virtual shapes and surface features,” in Proc. IEEE Haptics Symp., 2016, pp. 140–146.

[13]

M. Aggravi, F. Pausé, P. R. Giordano, and C. Pacchierotti, “Design and evaluation of a wearable haptic device for skin stretch, pressure, and vibrotactile stimuli,” IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2166–2173, Jul. 2018.

[14]

H. Benko, C. Holz, M. Sinclair, and E. Ofek, “NormalTouch and TextureTouch: High-fidelity 3D haptic shape rendering on handheld virtual reality controllers,” in Proc. Annu. Symp. User Interface Softw. Technol., 2016, pp. 717–728.

[15]

E. Whitmire, H. Benko, C. Holz, E. Ofek, and M. Sinclair, “Haptic revolver: Touch, shear, texture, and shape rendering on a reconfigurable virtual reality controller,” in Proc. CHI, 2018, Art. no.

[16]

A. Lécuyer, “Simulating haptic feedback using vision: A survey of research and applications of pseudo-haptic feedback,” Presence, Teleoperators Virtual Environ., vol. 18, no. 1, pp. 39–53, 2009.

Digital Library

[17]

I. Jang and D. Lee, “On utilizing pseudo-haptics for cutaneous fingertip haptic device,” in Proc. IEEE Haptics Symp., 2014, pp. 635–639.

[18]

M. Harders, G. Bianchi, B. Knoerlein, and G. Székely, “Calibration, registration, and synchronization for high precision augmented reality haptics,” IEEE Trans. Visualization Comput. Graph., vol. 15, no. 1, pp. 138–149, Jan.–Feb. 2009.

Digital Library

[19]

H. Culbertson and K. Kuchenbecker, “Ungrounded haptic augmented reality system for displaying roughness and friction,” IEEE/ASME Trans. Mechatronics, vol. 22, no. 4, pp. 1839–1849, Aug. 2017.

[20]

S. Jeon and S. Choi, “Haptic augmented reality: Taxonomy and an example of stiffness modulation,” Presence, Teleoperators Virtual Environ., vol. 18, no. 5, pp. 387–408, 2009.

Digital Library

[21]

H. Ando, E. Kusachi, and J. Watanabe, “Nail-mounted tactile display for boundary/texture augmentation,” in Proc. Int. Conf. Adv. Comput. Entertainment Technol., 2007, pp. 292–293.

[22]

T. Maeda, R. Peiris, M. Nakatani, Y. Tanaka, and K. Minamizawa, “Wearable haptic augmentation system using skin vibration sensor,” in Proc. Virtual Reality Int. Conf., 2016, Art. no.

[23]

S. Asano, S. Okamoto, and Y. Yamada, “Vibrotactile stimulation to increase and decrease texture roughness,” IEEE Trans. Human-Mach. Syst., vol. 45, no. 3, pp. 393–398, Jun. 2015.

[24]

X. De Tinguy, C. Pacchierotti, M. Marchal, and A. Lécuyer, “Enhancing the stiffness perception of tangible objects in mixed reality using wearable haptics,” in Proc. IEEE Conf. Virtual Reality 3D User Interfaces, 2018, pp. 81–90.

[25]

C. Pacchierotti, G. Salvietti, I. Hussain, L. Meli, and D. Prattichizzo, “The hRing: A wearable haptic device to avoid occlusions in hand tracking,” in Proc. IEEE Haptics Symp., 2016, pp. 134–139.

[26]

A. B. Vallbo, et al., “Properties of cutaneous mechanoreceptors in the human hand related to touch sensation,” Hum Neurobiol, vol. 3, no. 1, pp. 3–14, 1984.

[27]

W. M. B. Tiest and A. M. Kappers, “Cues for haptic perception of compliance,” IEEE Trans. Haptics, vol. 2, no. 4, pp. 189–199, Oct.–Dec. 2009.

Digital Library

[28]

H. Culbertson, J. M. Walker, and A. M. Okamura, “Modeling and design of asymmetric vibrations to induce ungrounded pulling sensation through asymmetric skin displacement,” in Proc. IEEE Haptics Symp., 2016, pp. 27–33.

[29]

W. R. Provancher and N. D. Sylvester, “Fingerpad skin stretch increases the perception of virtual friction,” IEEE Trans. Haptics, vol. 2, no. 4, pp. 212–223, Oct.–Dec. 2009.

Digital Library

Cited By

Burnah TImtiaz MGuesgen HRudolph GBlagojevic R(2024)Passive Stylus Tracking: A Systematic Literature ReviewProceedings of the ACM on Human-Computer Interaction10.1145/36981448:ISS(427-461)Online publication date: 24-Oct-2024
https://dl.acm.org/doi/10.1145/3698144
Villa SWeiss YHirsch NWiethoff A(2024)An Examination of Ultrasound Mid-air Haptics for Enhanced Material and Temperature Perception in Virtual EnvironmentsProceedings of the ACM on Human-Computer Interaction10.1145/36764888:MHCI(1-21)Online publication date: 24-Sep-2024
https://dl.acm.org/doi/10.1145/3676488
Kurzweg MWeiss YErnst MSchmidt AWolf K(2024)Survey on Haptic Feedback through Sensory Illusions in Interactive SystemsACM Computing Surveys10.1145/364835356:8(1-39)Online publication date: 10-Apr-2024
https://dl.acm.org/doi/10.1145/3648353
Show More Cited By

Index Terms

Altering the Stiffness, Friction, and Shape Perception of Tangible Objects in Virtual Reality Using Wearable Haptics
1. Computing methodologies
  1. Computer graphics
    1. Graphics systems and interfaces
      1. Virtual reality
2. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices
      1. Haptic devices
    2. Interaction paradigms
      1. Mixed / augmented reality
      2. Virtual reality

Index terms have been assigned to the content through auto-classification.

Recommendations

Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality Using Vibrotactile Haptics
Haptics: Understanding Touch; Technology and Systems; Applications and Interaction
Abstract
Wearable haptic devices are portable and unobtrusive technologies able to provide tactile sensations to the human skin. Their use in Augmented Reality (AR), where visual virtual content is integrated into the real world, has been little explored, ...
Haptics in Augmented Reality
ICMCS '99: Proceedings of the IEEE International Conference on Multimedia Computing and Systems - Volume 2

An augmented reality system merges synthetic sensory information into a user's perception of a three-dimensional environment. An important performance goal for an augmented reality system is that the user perceives a single seamless environment. In most ...
AR Feels “Softer” than VR: Haptic Perception of Stiffness in Augmented versus Virtual Reality
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 ...

Comments

Information & Contributors

Information

Published In

cover image IEEE Transactions on Haptics

IEEE Transactions on Haptics Volume 13, Issue 1

Jan.-March 2020

255 pages

ISSN:1939-1412

Issue’s Table of Contents

1939-1412 © 2020 Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.

Publisher

IEEE Computer Society Press

Washington, DC, United States

Publication History

Published: 01 January 2020

Qualifiers

Research-article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

32
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 06 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

Burnah TImtiaz MGuesgen HRudolph GBlagojevic R(2024)Passive Stylus Tracking: A Systematic Literature ReviewProceedings of the ACM on Human-Computer Interaction10.1145/36981448:ISS(427-461)Online publication date: 24-Oct-2024
https://dl.acm.org/doi/10.1145/3698144
Villa SWeiss YHirsch NWiethoff A(2024)An Examination of Ultrasound Mid-air Haptics for Enhanced Material and Temperature Perception in Virtual EnvironmentsProceedings of the ACM on Human-Computer Interaction10.1145/36764888:MHCI(1-21)Online publication date: 24-Sep-2024
https://dl.acm.org/doi/10.1145/3676488
Kurzweg MWeiss YErnst MSchmidt AWolf K(2024)Survey on Haptic Feedback through Sensory Illusions in Interactive SystemsACM Computing Surveys10.1145/364835356:8(1-39)Online publication date: 10-Apr-2024
https://dl.acm.org/doi/10.1145/3648353
Normand EPacchierotti CMarchand EMarchal M(2024)How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?Proceedings of the 30th ACM Symposium on Virtual Reality Software and Technology10.1145/3641825.3687738(1-10)Online publication date: 9-Oct-2024
https://dl.acm.org/doi/10.1145/3641825.3687738
Lin YZhang POfek EJe S(2024)ArmDeformation: Inducing the Sensation of Arm Deformation in Virtual Reality Using Skin-StretchingProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642518(1-18)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642518
Mazursky ASerfaty JLopes P(2024)Stick&Slip: Altering Fingerpad Friction via Liquid CoatingsProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642299(1-14)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642299
Jingu ASabnis NStrohmeier PSteimle J(2024)Shaping Compliance: Inducing Haptic Illusion of Compliance in Different Shapes with Electrotactile GrainsProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3641907(1-13)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3641907
Normand EPacchierotti CMarchand EMarchal M(2024)Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented RealityIEEE Transactions on Haptics10.1109/TOH.2024.335891017:2(277-291)Online publication date: 1-Apr-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3358910
Wu QLi J(2024)Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact AreaIEEE Transactions on Haptics10.1109/TOH.2024.335775117:3(451-460)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3357751
Sullivan DChase EO'Malley M(2024)Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic RangeIEEE Transactions on Haptics10.1109/TOH.2024.335520317:1(45-51)Online publication date: 1-Jan-2024
https://dl.acm.org/doi/10.1109/TOH.2024.3355203
Show More Cited By

View Options

View options

Media

Figures

Other

Tables

View Issue’s Table of Contents