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We propose a novel wearable haptic device that can provide kinesthetic haptic feedback for stiffness rendering of virtual objects in augmented reality (AR). Rendering stiffness of objects using haptic feedback is crucial for realistic finger-based object manipulation, yet challenging particularly in AR due to the co-presence of a real hand, haptic device, and rendered AR objects in the scenes. By adopting passive actuation with a tendon-based transmission mechanism, the proposed haptic device can generate kinesthetic feedback strong enough for immersive manipulation and prevention of inter-penetration in a small-form-factor, while maximizing the wearability and minimizing the occlusion in AR usage. A selective locking module is adopted in the device to allow for the rendering of the elasticity of objects. We perform an experimental study of two-finger grasping to verify the efficacy of the proposed haptic device for finger-based manipulation in AR. We also quantitatively compare/articulate the effects of different types of feedbacks across haptic and visual sense (i.e., kinesthetic haptic feedback, vibrotactile haptic feedback, and visuo-haptic feedback) for stiffness rendering of virtual objects in AR for the first time.

An optimal scheduling algorithm of the point merge system that considers a holding pattern is presented based on mixed-integer linear programming. The route structure of the point merge system is constructed by adopting virtual fixes, and appropriate constraints are included to integrate a holding pattern into the formulation of point merge system. The performance of the proposed point merge system holding algorithm is demonstrated by comparing with the point merge system and first-come first-served algorithms via Monte Carlo simulation. Simulation reveals that the point merge system holding algorithm shows the best performance in terms of delay reduction and intervention rate by air traffic controllers. The proposed point merge system holding algorithm is expected to assist human air traffic controllers as a decision support tool.

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