Haptic Sensation of Physical Properties in an Augmented Reality Environment.

Rodríguez Ramírez, Alma Guadalupe

Haptic Sensation of Physical Properties in an Augmented Reality Environment.

dc.contributor.advisor	Nandayapa Alfaro, Manuel de Jesus
dc.contributor.advisor	Vergara Villegas, Osslan Osiris
dc.contributor.author	Rodríguez Ramírez, Alma Guadalupe
dc.date.accessioned	2020-06-16T00:56:59Z
dc.date.available	2020-06-16T00:56:59Z
dc.date.issued	2020-02
dc.description	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.	es_MX
dc.description.abstract	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.	es_MX
dc.description.video	http://erecursos.uacj.mx/bitstream/handle/20.500.11961/5655/DT_G2_Thesis_RODR%c3%8dGUEZ%20ALMA.pdf?sequence=2&isAllowed=y
dc.identifier.uri	http://hdl.handle.net/20.500.11961/5655
dc.language.iso	en	es_MX
dc.publisher	Universidad Autónoma de Ciudad Juárez	es_MX
dc.relation.ispartof	Doctorado en Tecnología	es
dc.relation.ispartof	Instituto de Ingeniería y Tecnología	es
dc.relation.ispartof	Departamento de Ingeniería Industrial y Manufactura	es
dc.rights	Atribución-NoComercial-SinDerivadas 2.5 México	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/2.5/mx/	*
dc.subject	Haptic interface	es_MX
dc.subject	Augmented reality	es_MX
dc.subject	Physical property	es_MX
dc.subject.other	info:eu-repo/classification/cti/7	es_MX
dc.title	Haptic Sensation of Physical Properties in an Augmented Reality Environment.	es_MX
dc.type	Tesis doctoral	es
dcrupi.departamento	Departamento de Ingeniería Industrial y Manufactura	es
dcrupi.instituto	Instituto de Ingeniería y Tecnología	es
dcrupi.programa-academico	Doctorado en Tecnología	es
dcterms.thumbnail	http://ri.uacj.mx/vufind/thumbnails/pi-iit-doctorado.png	es