Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed. IntroductionIn 1965, Ivan Sutherland proposed the concept "the ultimate display", which represents the birth of virtual reality (VR) [1] . In his seminal work, he introduced three features of VR: immersion, interaction, and imagination. In past 50 years, thanks to the research in computer graphics and sound synthesis, existing VR systems possess fairly realistic visual and auditory feedback. However, haptic feedback is far from user's perceptual expectations. The experiences of haptic sensation in most VR systems are rather poor compared to the abundant haptic properties that human can perceive in the physical world.Haptic feedback is indispensable for enhancing immersion, interaction, and imagination of VR systems.Interaction can be enhanced by haptic feedback as users can directly manipulate virtual objects, and obtain ·Review· Dangxiao WANG et al: Haptic display for virtual reality: progress and challenges immediate haptic feedback. Immersion of the VR system can be enhanced in terms of providing more realistic sensation to mimic the physical interaction process. Imagination of users can be inspired when haptics can provide more cues for user to mentally construct an imagined virtual world beyond spatial and/ or temporal limitations.The haptic sensation obtained through virtual interaction is severely poor compared to the sensation obtained through physical interaction. In our physical life, the haptic channel is pervasively used, such as perception of stiffness, roughness and temperature of the objects in external world, or manipulation of these objects and motion or force control tasks such as grasping, touching or walking etc. In contrary, in virtual world, haptic experiences are fairly poor in both quantity and quality. Most commercial VR games and movies only provide visual and auditory feedbacks, and a few of them provide simple haptic feedback such as vibrations. With the booming of VR in many areas such as medical simulation and product design, there is a...
Compared with traditional dental training methods, virtual reality training systems integrated with multisensory feedback possess potentials advantages. However, there exist many technical challenges in developing a satisfactory simulator. In this manuscript, we systematically survey several current dental training systems to identify the gaps between the capabilities of these systems and the clinical training requirements. After briefly summarising the components, functions and unique features of each system, we discuss the technical challenges behind these systems including the software, hardware and user evaluation methods. Finally, the clinical requirements of an ideal dental training system are proposed. Future research/development areas are identified based on an analysis of the gaps between current systems and clinical training requirements.
Six-degree-of-freedom (6-DOF) haptic rendering for fine manipulation in narrow space is a challenging topic because of frequent constraint changes caused by small tool movement and the requirement to preserve the feel of fine-features of objects. In this paper, we introduce a configuration-based constrained optimization method for solving this rendering problem. We represent an object using a hierarchy of spheres, i.e., a sphere tree, which allows faster detection of multiple contacts/collisions among objects than polygonal mesh and facilitates contact constraint formulation. Given a moving graphic tool as the avatar of the haptic tool in the virtual environment, we compute its quasi-static motion by solving a configuration-based optimization. The constraints in the 6D configuration space of the graphic tool is obtained and updated through online mapping of the nonpenetration constraint between the spheres of the graphic tool and those of the other objects in the three-dimensional physical space, based on the result of collision detection. This problem is further modeled as a quadratic programming optimization and solved by the classic active-set methods. Our algorithm has been implemented and interfaced with a 6-DOF Phantom Premium 3.0. We demonstrate its performance in several benchmarks involving complex, multiregion contacts. The experimental results show both the high efficiency and stability of haptic rendering by our method for complex scenarios. Nonpenetration between the graphic tool and the object is maintained under frequent contact switches. Update rate of the simulation loop including optimization and constraint identification is maintained at about 1 kHz.
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