Loading...
|
Please use this identifier to cite or link to this item:
https://nccur.lib.nccu.edu.tw/handle/140.119/142172
|
| Title: | ELAXO：呈現多樣化手指抓握與旋轉之阻力回饋
ELAXO: Rendering Versatile Resistive Force Feedback for Fingers Grasping and Twisting |
| Authors: | 張仲毅
Zhang, Zhong-Yi |
| Contributors: | 蔡欣叡
陶亞倫
Tsai, Hsin-Ruey
Tao, Ya-Lun
張仲毅
Zhang, Zhong-Yi |
| Keywords: | 觸覺回饋
形狀渲染
阻力回饋
可穿戴設備
虛擬現實
Haptic feedback
Shape rendering
Resistive force feedback
Wearable device
Virtual reality |
| Date: | 2022 |
| Issue Date: | 2022-10-05 09:26:49 (UTC+8) |
| Abstract: | 觸覺回饋不僅增強了虛擬現實的沉浸感，還提供了專家在VR培訓中的觸覺提示，例如在VR工廠培訓中施多少力可以正確卡緊卡榫或鎖緊螺絲，這些回饋可以提高培訓效果表現。除了這些應用，VR環境中還存在著各種複雜的操作。儘管先前的研究已經實現了虛擬物體的形狀、彈性、按壓或抓握阻力的觸覺回饋，可是對於可穿戴設備的觸覺回饋裝置，很少討論或探索扭轉或轉動虛擬物體時的旋轉阻力。因此，我們提出了一種可穿戴設備ELAXO，將連續阻力和連續旋轉阻力相結合，分別在抓握和扭轉的應用中提供有彈性和沒有彈性的阻力。ELAXO是一種帶有指環、馬達煞車和彈力帶的外骨骼穿戴式裝置。馬達煞車實現了形狀模擬，並在阻力的有回彈力模式和無回彈力模式之間切換。可分離和可旋轉的指環和彈力帶在抓握和扭轉過程中提供連續的阻力。我們進行了一項Just-Noticeable Difference Study研究，以分別了解用戶在四種條件下對於阻力的可區分性，四個模式包含阻力和旋轉阻力，與分別有回彈力和無回彈力。然後進行了一項 VR體驗研究，以驗證 ELAXO 的多功能阻力回饋增強了 VR 體驗。
Haptic feedback not only enhances immersion in virtual reality (VR) but also delivers experts’ haptic sensation tips in VR training, e.g., properly clamping a tenon and mortise joint or tightening a screw in the assembly of VR factory training, which could even im-prove the training performance. However, various and complicated manipulation is in different scenarios. Although haptic feedback of virtual objects’ shape, stiffness or resistive force in pressing or grasping is achieved by previous research, rotational resistive force when twisting or turning virtual objects is seldom discussed or explored, especially for a wearable device. Therefore, we propose a wearable device, ELAXO, to integrate continuous resistive force and continuous rotational resistive force with or without resilience in grasping and twisting, respectively. ELAXO is an exoskeleton with rings, mechanical brakes and elastic bands. The brakes achieve shape rendering and switch between with and without resilience modes for the resistive force. The detachable and rotatable rings and elastic bands render continuous resistive force in grasping and twisting. We conducted a just noticeable difference (JND) study to understand users’ distinguishability in the four conditions, resistive force and rotational resistive force with and without resilience, separately. A VR study was then performed to verify that the versatile resistive force feedback from ELAXO enhances the VR experiences. |
| Reference: | [1] Alexander Achberger, Fabian Aust, Daniel Pohlandt, Kresimir Vidackovic, and Michael Sedlmair. 2021. STRIVE: String-Based Force Feedback for Automotive Engineering. In The 34th Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST ’21). Association for Computing Machinery, New York, NY, USA, 841–853. https://doi.org/10.1145/3472749.3474790
[2] Merwan Achibet, Adrien Girard, Anthony Talvas, Maud Marchal, and Anatole Lécuyer. 2015. Elastic-Arm: Human-scale passive haptic feedback for augmenting interaction and perception in virtual environments. In 2015 IEEE Virtual Reality (VR). IEEE, 63–68.
[3] Merwan Achibet, Benoît Le Gouis, Maud Marchal, Pierre-Alexandre Leziart, Ferran Argelaguet, Adrien Girard, Anatole Lécuyer, and Hiroyuki Kajimoto. 2017. FlexiFingers: Multi-finger interaction in VR combining passive haptics and pseudo-haptics. In 2017 IEEE Symposium on 3D User Interfaces (3DUI). IEEE, 103–106.
[4] Hrvoje Benko, Christian Holz, Mike Sinclair, and Eyal Ofek. 2016. NormalTouch and TextureTouch: High-Fidelity 3D Haptic Shape Rendering on Handheld Virtual Reality Controllers. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan) (UIST ’16). Association for Computing Machinery, New York, NY, USA, 717–728. https://doi.org/10.1145/2984511.2984526
[5] Francesco Chinello, Monica Malvezzi, Claudio Pacchierotti, and Domenico Prattichizzo. 2015. Design and development of a 3RRS wearable fingertip cutaneous device. In 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 293–298.
[6] Inrak Choi and Sean Follmer. 2016. Wolverine: A Wearable Haptic Interface for Grasping in VR. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan) (UIST ’16 Adjunct). Association for Computing Machinery, New York, NY, USA, 117–119. https://doi.org/10.1145/2984751.2985725
[7] Inrak Choi, Eyal Ofek, Hrvoje Benko, Mike Sinclair, and Christian Holz. 2018. CLAW: A Multifunctional Handheld Haptic Controller for Grasping, Touching, and Triggering in Virtual Reality. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI ’18). Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3173574.3174228
[8] Cathy Fang, Yang Zhang, Matthew Dworman, and Chris Harrison. 2020. Wireality: Enabling Complex Tangible Geometries in Virtual Reality with Worn Multi-String Haptics. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems (Honolulu, HI, USA) (CHI ’20). Association for Computing Machinery, New York, NY, USA, 1–10. https://doi.org/10.1145/3313831.3376470
[9] Sean Follmer, Daniel Leithinger, Alex Olwal, Akimitsu Hogge, and Hiroshi Ishii. 2013. InFORM: Dynamic Physical Affordances and Constraints through Shape and Object Actuation. In Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology (St. Andrews, Scotland, United Kingdom) (UIST ’13). Association for Computing Machinery, New York, NY, USA, 417–426. https://doi.org/10.1145/2501988.2502032
[10] Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, and Antonio Frisoli. 2016. A new wearable fingertip haptic interface for the rendering of virtual shapes and surface features. In 2016 IEEE Haptics Symposium (HAPTICS). IEEE, 140–146.
[11] Xiaochi Gu, Yifei Zhang, Weize Sun, Yuanzhe Bian, Dao Zhou, and Per Ola Kristensson. 2016. Dexmo: An Inexpensive and Lightweight Mechanical Exoskeleton for Motion Capture and Force Feedback in VR. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI ’16). Association for Computing Machinery, New York, NY, USA, 1991–1995. https://doi.org/10.1145/2858036.2858487
[12] Teng Han, Qian Han, Michelle Annett, Fraser Anderson, Da-Yuan Huang, and Xing-Dong Yang. 2017. Frictio: Passive Kinesthetic Force Feedback for Smart Ring Output. In Proceedings of the 30th Annual ACM Symposium on User Interface Software and Technology (Québec City, QC, Canada) (UIST ’17). Association for Computing Machinery, New York, NY, USA, 131–142. https://doi.org/10.1145/3126594.3126622
[13] Seongkook Heo, Christina Chung, Geehyuk Lee, and Daniel Wigdor. 2018. Thor’s Hammer: An Ungrounded Force Feedback Device Utilizing Propeller-Induced Propulsive Force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI ’18). Association for Computing Machinery, New York, NY, USA, 1–11. https://doi.org/10.1145/3173574.3174099
[14] Seongkook Heo, Jaeyeon Lee, and Daniel Wigdor. 2019. PseudoBend: Producing Haptic Illusions of Stretching, Bending, and Twisting Using Grain Vibrations. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (New Orleans, LA, USA) (UIST ’19). Association for Computing Machinery, New York, NY, USA, 803–813. https://doi.org/10.1145/3332165.3347941
[15] Ronan Hinchet, Velko Vechev, Herbert Shea, and Otmar Hilliges. 2018. DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST ’18). Association for Computing Machinery, New York, NY, USA, 901–912. https://doi.org/10.1145/3242587.3242657
[16] Seungwoo Je, Myung Jin Kim, Woojin Lee, Byungjoo Lee, Xing-Dong Yang, Pedro Lopes, and Andrea Bianchi. 2019. Aero-plane: A Handheld Force-Feedback Device that Renders Weight Motion Illusion on a Virtual 2D Plane. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology. 763–775.
[17] Seungwoo Je, Hyunseung Lim, Kongpyung Moon, Shan-Yuan Teng, Jas Brooks, Pedro Lopes, and Andrea Bianchi. 2021. Elevate: A Walkable Pin-Array for Large Shape-Changing Terrains. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan)(CHI ’21). Association for Computing Machinery, New York, NY, USA, Article 127, 11 pages. https://doi.org/10.1145/3411764.3445454
[18] Chi-Jung Lee, Hsin-Ruey Tsai, and Bing-Yu Chen. 2021. HairTouch: Providing Stiffness, Roughness and Surface Height Differences Using Reconfigurable Brush Hairs on a VR Controller. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–13.
[19] Jaeyeon Lee, Mike Sinclair, Mar Gonzalez-Franco, Eyal Ofek, and Christian Holz. 2019. TORC: A Virtual Reality Controller for In-Hand High-Dexterity Finger Interaction. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3290605.3300301
[20] Pedro Lopes, Sijing You, Lung-Pan Cheng, Sebastian Marwecki, and Patrick Baudisch. 2017. Providing Haptics to Walls & Heavy Objects in Virtual Reality by Means of Electrical Muscle Stimulation. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems (Denver, Colorado, USA) (CHI ’17). Association for Computing Machinery, New York, NY, USA, 1471–1482. https://doi.org/10.1145/3025453.3025600
[21] Ken Nakagaki, Artem Dementyev, Sean Follmer, Joseph A. Paradiso, and Hiroshi Ishii. 2016. ChainFORM: A Linear Integrated Modular Hardware System for Shape Changing Interfaces. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology (Tokyo, Japan) (UIST ’16). Association for Computing Machinery, New York, NY, USA, 87–96. https://doi.org/10.1145/2984511.2984587
[22] Ken Nakagaki, Daniel Fitzgerald, Zhiyao (John) Ma, Luke Vink, Daniel Levine, and Hiroshi Ishii. 2019. InFORCE: Bi-Directional ‘Force’ Shape Display for Haptic Interaction. In Proceedings of the Thirteenth International Conference on Tangible, Embedded, and Embodied Interaction (Tempe, Arizona, USA) (TEI ’19). Association for Computing Machinery, New York, NY, USA, 615–623. https://doi.org/10.1145/3294109.3295621
[23] Ken Nakagaki, Sean Follmer, and Hiroshi Ishii. 2015. LineFORM: Actuated Curve Interfaces for Display, Interaction, and Constraint. In Proceedings of the 28th Annual ACM Symposium on User Interface Software and Technology (Charlotte, NC, USA) (UIST ’15). Association for Computing Machinery, New York, NY, USA, 333–339. https://doi.org/10.1145/2807442.2807452
[24] Romain Nith, Shan-Yuan Teng, Pengyu Li, Yujie Tao, and Pedro Lopes. 2021. DextrEMS: Increasing Dexterity in Electrical Muscle Stimulation by Combining It with Brakes. Association for Computing Machinery, New York, NY, USA, 414–430. https://doi.org/10.1145/3472749.3474759
[25] Domenico Prattichizzo, Francesco Chinello, Claudio Pacchierotti, and Monica Malvezzi. 2013. Towards wearability in fingertip haptics: a 3-dof wearable device for cutaneous force feedback. IEEE Transactions on Haptics 6, 4 (2013), 506–516.
[26] Neung Ryu, Hye-Young Jo, Michel Pahud, Mike Sinclair, and Andrea Bianchi. 2021. GamesBond: Bimanual Haptic Illusion of Physically Connected Objects for Immersive VR Using Grip Deformation. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems (Yokohama, Japan) (CHI ’21). Association for Computing Machinery, New York, NY, USA, Article 125, 10 pages. https://doi.org/10.1145/3411764.3445727
[27] Samuel B. Schorr and Allison M. Okamura. 2017. Fingertip Tactile Devices for Virtual Object Manipulation and Exploration. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems (Denver, Colorado, USA) (CHI ’17). Association for Computing Machinery, New York, NY, USA, 3115–3119. https://doi.org/10.1145/3025453.3025744
[28] Mike Sinclair, Eyal Ofek, Mar Gonzalez-Franco, and Christian Holz. 2019. CapstanCrunch: A Haptic VR Controller with User-Supplied Force Feedback. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (New Orleans, LA, USA) (UIST ’19). Association for Computing Machinery, New York, NY, USA, 815–829. https://doi.org/10.1145/3332165.3347891
[29] Alexa F. Siu, Eric J. Gonzalez, Shenli Yuan, Jason B. Ginsberg, and Sean Follmer. 2018. ShapeShift: 2D Spatial Manipulation and Self-Actuation of Tabletop Shape Displays for Tangible and Haptic Interaction. Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10. 1145/3173574.3173865
[30] Bukun Son and Jaeyoung Park. 2018. Haptic Feedback to the Palm and Fingers for Improved Tactile Perception of Large Objects. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST ’18). Association for Computing Machinery, New York, NY, USA, 757–763. https://doi.org/10.1145/3242587.3242656
[31] Evan Strasnick, Christian Holz, Eyal Ofek, Mike Sinclair, and Hrvoje Benko. 2018. Haptic Links: Bimanual Haptics for Virtual Reality Using Variable Stiffness Actuation. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (Montreal QC, Canada) (CHI ’18). Association for Computing Machinery, New York, NY, USA, 1–12. https://doi.org/10.1145/3173574.3174218
[32] Yuqian Sun, Shigeo Yoshida, Takuji Narumi, and Michitaka Hirose. 2019. PaCaPa: A Handheld VR Device for Rendering Size, Shape, and Stiffness of Virtual Objects in Tool-Based Interactions. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk)(CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–12. https://doi.org/10.1145/3290605.3300682
[33] Ryo Suzuki, Eyal Ofek, Mike Sinclair, Daniel Leithinger, and Mar Gonzalez-Franco. 2021. HapticBots: Distributed Encountered-Type Haptics for VR with Multiple Shape-Changing Mobile Robots. Association for Computing Machinery, New York, NY, USA, 1269–1281. https://doi.org/10.1145/ 3472749.3474821
[34] Yujie Tao, Shan-Yuan Teng, and Pedro Lopes. 2021. Altering Perceived Softness of Real Rigid Objects by Restricting Fingerpad Deformation. In The 34th Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST ’21). Association for Computing Machinery, New York, NY, USA, 985–996. https://doi.org/10.1145/3472749.3474800
[35] Shan-Yuan Teng, Tzu-Sheng Kuo, Chi Wang, Chi-huan Chiang, Da-Yuan Huang, Liwei Chan, and Bing-Yu Chen. 2018. PuPoP: Pop-up Prop on Palm for Virtual Reality. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST ’18). Association for Computing Machinery, New York, NY, USA, 5–17. https://doi.org/10.1145/3242587.3242628
[36] Hsin-Ruey Tsai and Jun Rekimoto. 2018. ElasticVR: Providing multi-level active and passive force feedback in virtual reality using elasticity. In Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems. 1–4.
[37] Hsin-Ruey Tsai, Jun Rekimoto, and Bing-Yu Chen. 2019. ElasticVR: Providing Multilevel Continuously-Changing Resistive Force and Instant Impact Using Elasticity for VR. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–10. https://doi.org/10.1145/3290605.3300450
[38] Chih-An Tsao, Tzu-Chun Wu, Hsin-Ruey Tsai, Tzu-Yun Wei, Fang-Ying Liao, Sean Chapman, and Bing-Yu Chen. 2022. FrictShoes: Providing Multilevel Nonuniform Friction Feedback on Shoes in VR. IEEE Transactions on Visualization & Computer Graphics 01 (2022), 1–11.
[39] Chi Wang, Da-Yuan Huang, Shuo-Wen Hsu, Cheng-Lung Lin, Yeu-Luen Chiu, Chu-En Hou, and Bing-Yu Chen. 2020. Gaiters: Exploring Skin Stretch Feedback on Legs for Enhancing Virtual Reality Experiences. Association for Computing Machinery, New York, NY, USA, 1–14. https: //doi.org/10.1145/3313831.3376865
[40] Yu-Wei Wang, Yu-Hsin Lin, Pin-Sung Ku, Y¯oko Miyatake, Yi-Hsuan Mao, Po Yu Chen, Chun-Miao Tseng, and Mike Y. Chen. 2021. JetController: High-Speed Ungrounded 3-DoF Force Feedback Controllers Using Air Propulsion Jets. Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3411764.3445549
[41] Tzu-Yun Wei, Hsin-Ruey Tsai, Yu-So Liao, Chieh Tsai, Yi-Shan Chen, Chi Wang, and Bing-Yu Chen. 2020. ElastiLinks: Force Feedback between VR Controllers with Dynamic Points of Application of Force. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology (Virtual Event, USA) (UIST ’20). Association for Computing Machinery, New York, NY, USA, 1023–1034. https://doi.org/10.1145/3379337.3415836
[42] Shigeo Yoshida, Yuqian Sun, and Hideaki Kuzuoka. 2020. PoCoPo: Handheld Pin-Based Shape Display for Haptic Rendering in Virtual Reality. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems (Honolulu, HI, USA) (CHI ’20). Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3313831.3376358
[43] André Zenner and Antonio Krüger. 2019. Drag:On: A Virtual Reality Controller Providing Haptic Feedback Based on Drag and Weight Shift. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (Glasgow, Scotland Uk) (CHI ’19). Association for Computing Machinery, New York, NY, USA, 1–12. https://doi.org/10.1145/3290605.3300441 |
| Description: | 碩士
國立政治大學
數位內容碩士學位學程
109462016 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0109462016 |
| Data Type: | thesis |
| DOI: | 10.6814/NCCU202201579 |
| Appears in Collections: | [數位內容碩士學位學程] 學位論文
[數位內容與科技學士學位學程] 學位論文
|
Files in This Item:
| File |
Description |
Size | Format | |
|---|
| 201601.pdf | | 24048Kb | Adobe PDF2 | 0 | View/Open |
|
All items in 政大典藏 are protected by copyright, with all rights reserved.
|
