Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality

Zhao, Yiwei; Kim, Lawrence H.; Wang, Ye; Goc, Mathieu Le; Follmer, Sean

doi:10.1145/3132272.3134143

Cited by 57 publications

(35 citation statements)

References 33 publications

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“…To address this issue, researchers started developing actuated tangible objects able to actively change as the user interacts with them. For example, systems such as inFORM [8] and TRANSFORM [15] enable experimentation with shape-changing interfaces and dynamic physical affordances; alternatively, Zhao et al [31] used self-assembling robots to form tangible objects shaped like the considered virtual object. More recently, Harley et al [12] presented a system for diegetic tangible objects in VR.…”

Section: Related Work and Current Limitationsmentioning

confidence: 99%

Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable Haptics

Tinguy

Pacchierotti

Marchal

et al. 2018

2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)

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This paper studies the combination of tangible objects and wearable haptics for improving the display of stiffness sensations in virtual environments. Tangible objects enable to feel the general shape of objects, but they are often passive or unable to simulate several varying mechanical properties. Wearable haptic devices are portable and unobtrusive interfaces able to generate varying tactile sensations, but they often fail at providing convincing stiff contacts and distributed shape sensations. We propose to combine these two approaches in virtual and augmented reality (VR/AR), becoming able of arbitrarily augmenting the perceived stiffness of real/tangible objects by providing timely tactile stimuli at the fingers. We developed a proof-of-concept enabling to simulate varying elasticity/stiffness sensations when interacting with tangible objects by using wearable tactile modules at the fingertips. We carried out a user study showing that wearable haptic stimulation can well alter the perceived stiffness of real objects, even when the tactile stimuli is not delivered at the contact point. We illustrated our approach both in VR and AR, within several use cases and different tangible settings, such as when touching surfaces, pressing buttons and pistons, or holding an object. Taken together, our results pave the way for novel haptic sensations in VR/AR by better exploiting the multiple ways of providing simple, unobtrusive, and low-cost haptic displays.

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Section: Related Work and Current Limitationsmentioning

confidence: 99%

Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable Haptics

Tinguy

Pacchierotti

Marchal

et al. 2018

2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)

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“…By enabling vertically extendable robots to connect, one can achieve a handheld shape display that can dynamically reconfigure a 3D shape. These objects are particularly useful to provide a haptic proxy for virtual objects [60] or an instant preview of a 3D design [48].…”

Section: Connectabilitymentioning

confidence: 99%

ShapeBots: Shape-changing Swarm Robots

Suzuki

Zheng

Kakehi

et al. 2019

Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology

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Figure 1. ShapeBots exemplifies a new type of shape-changing interface that consists of a swarm of self-transformable robots. A) Two ShapeBot elements. B) A miniature reel-based linear actuator for self-transformation. By leveraging individual and collective transformation, ShapeBots can provide C) interactive physical display (e.g., rendering a rectangle), D) object actuation (e.g., cleaning up a desk), E) distributed shape display (e.g., rendering a dynamic surface), and F) embedded data physicalization (e.g., showing populations of states on a US map). ABSTRACTWe introduce shape-changing swarm robots. A swarm of selftransformable robots can both individually and collectively change their configuration to display information, actuate objects, act as tangible controllers, visualize data, and provide physical affordances. ShapeBots is a concept prototype of shape-changing swarm robots. Each robot can change its shape by leveraging small linear actuators that are thin (2.5 cm) and highly extendable (up to 20cm) in both horizontal and vertical directions. The modular design of each actuator enables various shapes and geometries of self-transformation. We illustrate potential application scenarios and discuss how this type of interface opens up possibilities for the future of ubiquitous and distributed shape-changing interfaces.interfaces [5,38]-will follow the same path as technology advances. Although current interfaces are often large, heavy, and immobile, these interfaces will surely be replaced with hundreds of distributed interfaces, in the same way that desktop computers were replaced by hundreds of distributed mobile computers. If shape-changing interfaces will become truly ubiquitous, how can these interfaces be distributed and embedded into our everyday environment? This paper introduces shape-changing swarm robots for distributed shape-changing interfaces. Shape-changing swarm robots can both collectively and individually change their shape, so that they can collectively present information, act as controllers, actuate objects, represent data, and provide dynamic physical affordances.

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“…In this example, sensor and actuator bricks communicate to work together as a unit. In the same vein, Zhao et al presented small cubical robots that self-assemble to create tangible proxies for tangible interaction and virtual reality [59]. This work is based on Zooids, a swarm user interface, that also illustrates the concept of molecular interfaces [24].…”

Section: Related Workmentioning

confidence: 99%

PickCells

Goguey

Steer

Lucero

et al. 2019

Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems

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Illustration of the PickCells concept. Using her PickCells device (a) composed of small cubical cells, Eve can: b) snap-off cells to create a remote control while watching her movie; c) reorganise some cells to unlock her device by inputting a physical password; d) shape her device into a controller to comfortably play video games; e) snap-off a cell from her device, set it to control her smart light bulb and leave it in the living room so the whole family can control the bulb; and f) share one of her cell to show her vacation pictures on her friend's device.

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Robotic Assembly of Haptic Proxy Objects for Tangible Interaction and Virtual Reality

Cited by 57 publications

References 33 publications

Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable Haptics

Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable Haptics

ShapeBots: Shape-changing Swarm Robots

PickCells

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