Collaborative Haptic Exploration of Dynamic Remote Environments

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Haptic perception is an important modality in reinforcing the presence of virtual or remote targets, but providing haptic feedback of dynamic environments still remains a challenging task. We address the issue of haptic telepresence systems by improving and integrating two independent approaches: real-time haptic rendering of unstructured spatial data and collaborative interaction with a remote partner. Contact with physical constraints is directly estimated from streaming point-cloud data without surface reconstruction, and haptic guidance cues that restrict or promote the user's motion can be provided by both predefined triggers and gesture-based input from a helper. Through a user study with a proof-of-concept prototype, the authors show that the proposed approach significantly improves the performance of remote exploration tasks while enabling stable haptic interaction with real-world spatial data.
Publisher
IEEE COMPUTER SOC
Issue Date
2018-09
Language
English
Article Type
Article
Citation

IEEE COMPUTER GRAPHICS AND APPLICATIONS, v.38, no.5, pp.84 - 99

ISSN
0272-1716
DOI
10.1109/MCG.2018.053491733
URI
http://hdl.handle.net/10203/246341
Appears in Collection
CS-Journal Papers(저널논문)
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