Colocated Visuo-Haptic Simulaton: Challenges and Examples

Taşcıoğlu Y.

19th INTERNATIONAL CONFERENCE ON MACHINE DESIGN AND PRODUCTION (UMTIK 2022), Nevşehir, Turkey, 31 August - 03 September 2022, pp.77

  • Publication Type: Conference Paper / Summary Text
  • City: Nevşehir
  • Country: Turkey
  • Page Numbers: pp.77
  • TED University Affiliated: Yes


In a typical virtual reality (VR) simulation with haptic feedback, visual and haptic stimuli are not collocated. That is, the users watch interactions with virtual objects on a computer screen, but feel them via a commercial haptic device located somewhere else. For applications with a relatively small workspace, such as digital sculpting or surgical simulations, this is still a somewhat immersive experience. If the computer screen is replaced by a VR headset, then colocation is possible but with limitations. This is mainly because the haptic workspace provided by a typical commercial force-feedback device is very small compared to the visual workspace provided by the headset. So called encountered-type haptic displays (ETHDs) are better suited for haptic feedback in modern virtual-reality and/or augmented-reality (AR) environments. ETHDs are actually robot manipulators that position their end-effector at the location of the virtual object and wait for the user to “encounter”. The biggest challenge here is the accurate tracking of the user’s hand or tool to ensure successful encounters. Another challenge, which only applies to AR, is to remove the ETHD from the visual scene. This presentation will also include two different examples of collocated visuo-haptic simulation environments. In the first one, users hold real tools in an AR environment and receive kinesthetic haptic feedback. The second one features barehand interaction with virtual objects having different surface properties.