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ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props

Victor Mercado 1 Maud Marchal 2 Anatole Lécuyer 1
1 Hybrid - 3D interaction with virtual environments using body and mind
Inria Rennes – Bretagne Atlantique , IRISA-D6 - MEDIA ET INTERACTIONS
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this article, we propose an approach towards an infinite surface haptic display. Our approach, named ENcountered-Type ROtating Prop Approach (ENTROPiA) is based on a cylindrical spinning prop attached to a robot's end-effector serving as an encountered-type haptic display (ETHD). This type of haptic display permits the users to have an unconstrained, free-hand contact with a surface being provided by a robotic device for the users' to encounter a surface to be touched. In our approach, the sensation of touching a virtual surface is given by an interaction technique that couples with the sliding movement of the prop under the users' finger by tracking their hand location and establishing a path to be explored. This approach enables large motion for a larger surface rendering, permits to render multi-textured haptic feedback, and leverages the ETHD approach introducing large motion and sliding/friction sensations. As a part of our contribution, a proof of concept was designed for illustrating our approach. A user study was conducted to assess the perception of our approach showing a significant performance for rendering the sensation of touching a large flat surface. Our approach could be used to render large haptic surfaces in applications such as rapid prototyping for automobile design.
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https://hal.inria.fr/hal-03139215
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Submitted on : Thursday, February 11, 2021 - 5:46:46 PM
Last modification on : Tuesday, October 19, 2021 - 11:04:42 AM
Long-term archiving on: : Wednesday, May 12, 2021 - 7:13:04 PM

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Victor Mercado, Maud Marchal, Anatole Lécuyer. ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props. IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2021, 27 (3), pp.2237-2243. ⟨10.1109/TVCG.2019.2963190⟩. ⟨hal-03139215⟩

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