Haptic Sensation of Physical Properties in an Augmented Reality Environment.
Fecha
2020-02
Autores
Rodríguez Ramírez, Alma Guadalupe
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Editor
Universidad Autónoma de Ciudad Juárez
Resumen
Humans interact within an environment through their senses. Sight and touch allow humans gather visual and haptic information of an environment as a response to the interaction with it. What happens when humans interact within an augmented reality (AR) environment? Typically, AR environments generate visual information and integrate it with a real environment by displaying them together. The information seen by humans in such environments cannot be touched. In this dissertation, an interaction-based methodology for the generation of haptic sensation of physical properties in an AR environment is presented. The methodology is divided in four modules, the haptic interface, the sen- sorless torque control, the haptic rendering and the augmented reality. All modules share information either for the design or the implementation. The haptic sensation is displayed on a kinesthetic haptic interface by means of a sensorless DOB-based torque control. The haptic rendering is based on a physical property and in the user interaction design. Then, the haptic sensation is integrated with the AR environment, so the user can feel and see a physical property of a virtual object. The haptic sen- sation was verified by comparing the control response with the measured response. The generation of the haptic sensation was tested with three experiments for constant, linear, and exponential behaviors of different physical properties. The user was able to feel like passing through a virtual membrane, pushing/pulling a virtual compression/tension spring, and being attracted/repulsed to a virtual point charge. The final prototype was tested by designing a haptic sensation of the physical property spring constant in an AR environment. The user could experience visually and haptically a pulling interaction with a virtual tension spring.
Descripción
Humans interact within an environment through their senses. Sight and touch allow humans gather visual and haptic information of an environment as a response to the interaction with it. What happens when humans interact within an augmented reality (AR) environment? Typically, AR environments generate visual information and integrate it with a real environment by displaying them together. The information seen by humans in such environments cannot be touched. In this dissertation, an interaction-based methodology for the generation of haptic sensation of physical properties in an AR environment is presented. The methodology is divided in four modules, the haptic interface, the sen- sorless torque control, the haptic rendering and the augmented reality. All modules share information either for the design or the implementation. The haptic sensation is displayed on a kinesthetic haptic interface by means of a sensorless DOB-based torque control. The haptic rendering is based on a physical property and in the user interaction design. Then, the haptic sensation is integrated with the AR environment, so the user can feel and see a physical property of a virtual object. The haptic sen- sation was verified by comparing the control response with the measured response. The generation of the haptic sensation was tested with three experiments for constant, linear, and exponential behaviors of different physical properties. The user was able to feel like passing through a virtual membrane, pushing/pulling a virtual compression/tension spring, and being attracted/repulsed to a virtual point charge. The final prototype was tested by designing a haptic sensation of the physical property spring constant in an AR environment. The user could experience visually and haptically a pulling interaction with a virtual tension spring.
Palabras clave
Haptic interface, Augmented reality, Physical property