Physically Touching Virtual Objects Usin~ Tactile Augmentation
`Physically Touching Virtual Objects Usin~ Tactile Augmentation
`Enhances the Realism of Virtual Environments.
`Enhances the Realism of Virtual Environments.
`
`Hunter G. Hoffman, Ph.D.
`Hunter G. Hoffman, Ph.D.
`Human Interface Technology Laboratory, University of Washington
`Human Interface Technology Laboratory, University of Washington
`and Department of Psychology, University of Washington.
`and Department of Psychology, University of Washington.
`hunter@hitL.washington.edu
`(206) 616-1496
`hunter@hitL.washington.edu
`(206) 616-1496
`http://www. hid. washington. edu/people/h unter/
`http://www. hid. washington. edu/people/h unter/
`
`Abstract
`Abstract
`This study explored the impact ofphysically
`This study explored the impact ofphysically
`touching a virtual object on how realistic the VE
`touching a virtual object on how realistic the VE
`seems to the user. Subjects in a 'Wo touch /I
`seems to the user. Subjects in a 'Wo touch /I
`group picked up a 3-D virtt«ll image of a kitchen
`group picked up a 3-D virtt«ll image of a kitchen
`plate in a VE, using a traditional 3-D wand.
`':See
`plate in a VE, using a traditional 3-D wand.
`':See
`and touch /I subjects physically picked up a virtual
`and touch /I subjects physically picked up a virtual
`plate possessing solidity and weight, using a
`plate possessing solidity and weight, using a
`mired-reality force .feedback technique.1/ierward.s;
`mired-reality force .feedback technique.1/ierward.s;
`subjects made predictions about the properties of
`subjects made predictions about the properties of
`other virtt«llobJects they saw but did not interact
`other virtt«llobJects they saw but did not interact
`with in the VE.
`':See and touch" subjects
`':See and touch" subjects
`with in the VE.
`predicted these objects would be more solid,
`predicted these objects would be more solid,
`heaVlel; and more likely to obey gravity than the
`heaVlel; and more likely to obey gravity than the
`"no touch" group. Results provide converging
`"no touch" group. Results provide converging
`evidence for the value of adding physical qualities
`evidence for the value of adding physical qualities
`to virtual objects. This study is the first to
`to virtual objects. This study is the first to
`empirically demollStrate the t(jfoctiveness of mired
`empirically demollStrate the t(jfoctiveness of mired
`reality as a simple, sq'e, inexpellSive technique for
`reality as a simple, sq'e, inexpellSive technique for
`adding physical tature andforce .feedback cues to
`adding physical tature andforce .feedback cues to
`virtt«llobJects with large.freedom ifmotion.
`virtt«llobJects with large.freedom ifmotion.
`Examples ifpractical applications are discussed
`Examples ifpractical applications are discussed
`
`Keywords: VR, tactile feedback. force feedback,
`Keywords: VR, tactile feedback. force feedback,
`calibration, realism
`calibration, realism
`
`Introduction.
`Introduction.
`
`Most commercially available VR systems do
`Most commercially available VR systems do
`not include tactile or force feedback. When the
`not include tactile or force feedback. When the
`typical VR user reaches out to pick up a virtual
`typical VR user reaches out to pick up a virtual
`object, their cyberhand goes into/through the
`object, their cyberhand goes into/through the
`object. Such virtual objects have no solidity, no
`object. Such virtual objects have no solidity, no
`mass, and often don't obey the rules of gravity
`mass, and often don't obey the rules of gravity
`(i.e., they float in the air when dropped),
`(i.e., they float in the air when dropped),
`detracting from the realism of the VE. A number
`detracting from the realism of the VE. A number
`of research centers have developed innovative
`of research centers have developed innovative
`computer-simulated force feedback techniques, but
`computer-simulated force feedback techniques, but
`despite promising progress, tactile feedback is
`despite promising progress, tactile feedback is
`
`lagging behind visual and auditory VR input
`lagging behind visual and auditory VR input
`technologies [1]. Tactile augmentation [2],
`technologies [1]. Tactile augmentation [2],
`touching real objects while in virtual reality, is an
`touching real objects while in virtual reality, is an
`effective alternative mixed reality [3) technique for
`effective alternative mixed reality [3) technique for
`introducing tactile cues.
`introducing tactile cues.
`The present study employs tactile
`The present study employs tactile
`augmentation to explore the impact of physically
`augmentation to explore the impact of physically
`touching one virtual object on user's predictions
`touching one virtual object on user's predictions
`about the properties of other virtual objects and
`about the properties of other virtual objects and
`the "laws of nature" obeyed in a virtual kitchen.
`the "laws of nature" obeyed in a virtual kitchen.
`Subjects were randomly assigned to one of two
`Subjects were randomly assigned to one of two
`conditions. Those in the "no touch" condition
`conditions. Those in the "no touch" condition
`picked up a 3-D virtual image of a kitchen plate,
`picked up a 3-D virtual image of a kitchen plate,
`using a traditional 3-D wand to control their
`using a traditional 3-D wand to control their
`cyberhand. "See and touch" subjects physically
`cyberhand. "See and touch" subjects physically
`picked up the virtual plate, see Figures 1 and 2.
`picked up the virtual plate, see Figures 1 and 2.
`Their real hand grabbed a real ceramic plate in the
`Their real hand grabbed a real ceramic plate in the
`appropriate spatial location. The VR system
`appropriate spatial location. The VR system
`tracked the position of the real plate (using a
`tracked the position of the real plate (using a
`position sensor) such that any change in position
`position sensor) such that any change in position
`or orientation of the real plate was mimicked by
`or orientation of the real plate was mimicked by
`the virtual plate seen in VR. As a result of the
`the virtual plate seen in VR. As a result of the
`brain's propensity to unify disparities in the two
`brain's propensity to unify disparities in the two
`modalities of input and for vision to dominate [4],
`modalities of input and for vision to dominate [4],
`the visual virtual object captured the tactile
`the visual virtual object captured the tactile
`properties of the real object, creating the illusion
`properties of the real object, creating the illusion
`of a virtual object with the properties of the real
`of a virtual object with the properties of the real
`object, e.g., "cyberheft". Subjects later made
`object, e.g., "cyberheft". Subjects later made
`predictions about the properties of other objects
`predictions about the properties of other objects
`they saw but did not interact with in the virtual
`they saw but did not interact with in the virtual
`world. I predicted that subjects in the "see and
`world. I predicted that subjects in the "see and
`touch" condition would rate the teapot, walls, and
`touch" condition would rate the teapot, walls, and
`countertop as more solid, and rate the teapot
`countertop as more solid, and rate the teapot
`heavier, and more likely to obey the laws of
`heavier, and more likely to obey the laws of
`gravity than subjects in the "no touch" condition.
`gravity than subjects in the "no touch" condition.
`Examples of practical applications of tactile
`Examples of practical applications of tactile
`augmentation are discussed.
`augmentation are discussed.
`
`CK0004338
`
`

`
`Experiment 1
`Experiment 1
`
`Method
`Method
`Subjects.
`Subjects.
`
`Nineteen students from the U. of Washington
`Nineteen students from the U. of Washington
`participated in the 20 minute experiment.
`participated in the 20 minute experiment.
`
`Materials and equipment.
`Materials and equipment.
`
`A real kitchen plate, 11" in diameter, was
`A real kitchen plate, 11" in diameter, was
`modeled in 3-D and texture mapped with a
`modeled in 3-D and texture mapped with a
`digitized texture from the real plate and placed on a
`digitized texture from the real plate and placed on a
`small white table. The virtual image was scaled
`small white table. The virtual image was scaled
`using a mixed reality ruler (an objective
`using a mixed reality ruler (an objective
`calibration technique developed for this study, see
`calibration technique developed for this study, see
`appendix) such that pilot subjects indicated a close
`appendix) such that pilot subjects indicated a close
`correspondence between what was seen in VR and
`correspondence between what was seen in VR and
`what was felt when they touched the real plate.
`what was felt when they touched the real plate.
`The VR system consisted of a Division
`The VR system consisted of a Division
`ProVision 100, coupled with a Division
`ProVision 100, coupled with a Division
`dVisor™ HMD with the following FOV: 40
`dVisor™ HMD with the following FOV: 40
`degrees vertical, 105 degrees horizontal combined
`degrees vertical, 105 degrees horizontal combined
`across two eyes, and 40 degree horizontal overlap.
`across two eyes, and 40 degree horizontal overlap.
`A polhemous sensor attached to a fingerless
`A polhemous sensor attached to a fingerless
`bicycle glove (right hand) was used to control
`bicycle glove (right hand) was used to control
`cyberhand positions. A second sensor attached to
`cyberhand positions. A second sensor attached to
`the bottom of the real plate controlled movements
`the bottom of the real plate controlled movements
`.
`1 and 2).
`of the virtual
`s 1 and 2).
`
`Figure 1: a mixed reality plate
`Figure 1: a mixed reality plate
`as seen from the real world.
`
`Figure 2: What subjects see in
`Figure 2: What subjects see in
`
`virtual reality (in 3-0).
`virtual reality (in 3-0).
`
`Design and Procedure.
`Design and Procedure.
`
`A between-subjects experimental design was
`A between-subjects experimental design was
`used. Each subject was randomly assigned to
`used. Each subject was randomly assigned to
`either a "see only" or a "see and touch" condition.
`either a "see only" or a "see and touch" condition.
`Each subject donned an HMD and viewed
`Each subject donned an HMD and viewed
`Division LTD's KitchenWorld demo. When
`Division LTD's KitchenWorld demo. When
`subjects in the "see and touch" condition placed
`subjects in the "see and touch" condition placed
`the plate on the real table top, they saw the virtual
`the plate on the real table top, they saw the virtual
`plate rest on the countertop in VR.
`plate rest on the countertop in VR.
`Subjects were told that they would see a
`Subjects were told that they would see a
`virtual plate, which they were to pick up with
`virtual plate, which they were to pick up with
`their cyberhand. Subjects in the "no touch"
`their cyberhand. Subjects in the "no touch"
`condition were instructed on how to pick up
`condition were instructed on how to pick up
`objects by immersing their cyberhand into the
`objects by immersing their cyberhand into the
`object~ and pulling the trigger button of the 3-D
`object~ and pulling the trigger button of the 3-D
`mouse to pick the object up. Subjects in the "see
`mouse to pick the object up. Subjects in the "see
`and touch" condition were instructed to reach out
`and touch" condition were instructed to reach out
`with their cyberhand and pick up the virtual plate
`with their cyberhand and pick up the virtual plate
`by grabbing the real plate with their real hand.
`by grabbing the real plate with their real hand.
`After the VR phase, subjects filled out a brief
`After the VR phase, subjects filled out a brief
`questionnaire. They were instructed to "Please
`questionnaire. They were instructed to "Please
`make predictions below regarding the properties
`make predictions below regarding the properties
`possessed by the virtual kitchen you experienced"
`possessed by the virtual kitchen you experienced"
`(given a scale marked 1 23 4567).
`(given a scale marked 1 23 4567).
`A. In the virtual world, you saw a tea pot on the
`A. In the virtual world, you saw a tea pot on the
`countertop. How solid was the teapot? 1 = only
`countertop. How solid was the teapot? 1 = only
`visual, not solid, 7 = as solid as a real teapot
`visual, not solid, 7 = as solid as a real teapot
`B. In the virtual world, how solid were the walls
`B. In the virtual world, how solid were the walls
`of the kitchen? I = only visual, not solid, 7 = as
`of the kitchen? I = only visual, not solid, 7 = as
`solid as a real wall
`solid as a real wall
`C. In the virtual world, how solid was the
`C. In the virtual world, how solid was the
`countertop on which the plate resided? 1 = only
`countertop on which the plate resided? 1 = only
`visual, not solid, 7 = as solid as a real countertop
`visual, not solid, 7 = as solid as a real countertop
`D. In the virtual world, if you picked up the
`D. In the virtual world, if you picked up the
`teapot, how much would it weigh?
`teapot, how much would it weigh?
`1 = only visual, no weight, 7 = as heavy as a real
`1 = only visual, no weight, 7 = as heavy as a real
`teapot
`teapot
`E. To what extent do you predict that the teapot
`E. To what extent do you predict that the teapot
`would obey the laws of gravity?
`would obey the laws of gravity?
`1 = not at all, 7 = same gravity as in the real
`1 = not at all, 7 = same gravity as in the real
`world
`world
`
`Results
`Results
`
`One mean was calculated for each subject and
`One mean was calculated for each subject and
`used in the analysis. Subjects in the "see and
`used in the analysis. Subjects in the "see and
`touch" group gave higher ratings than subjects in
`touch" group gave higher ratings than subjects in
`the "no touch" group (mean ratings = 5.0 vs. 3.2
`the "no touch" group (mean ratings = 5.0 vs. 3.2
`respectively). A Wilcoxon, signed-rank test (a
`respectively). A Wilcoxon, signed-rank test (a
`non-parametric t-test) showed a highly significant
`non-parametric t-test) showed a highly significant
`difference between the two groups, Z = 2.70, two-
`difference between the two groups, Z = 2.70, two-
`
`CK0004339
`
`

`
`tailed p = .006. This comparison (labeled
`tailed p = .006. This comparison (labeled
`"means"), and an item analysis are shown in
`"means"), and an item analysis are shown in
`Figure 3. The pattern of higher ratings for the
`Figure 3. The pattern of higher ratings for the
`"see and touch" group compared to "see only"
`"see and touch" group compared to "see only"
`group was the same for each of the five questions
`group was the same for each of the five questions
`(A,B,C,D and E).
`(A,B,C,D and E).
`
`Three practical applications that might benefit
`Three practical applications that might benefit
`from the use of 'tactile augmentation" are
`from the use of 'tactile augmentation" are
`described below.
`described below.
`
`Use of tactile augmentation to
`Use of tactile augmentation to
`maximize burn pain reduction.
`maximize burn pain reduction.
`
`Hospitalized bum patients typically
`Hospitalized bum patients typically
`experience severe to excruciating pain during
`experience severe to excruciating pain during
`wound care (cleaning etc.), despite treatment with
`wound care (cleaning etc.), despite treatment with
`potent morphine-based analgesics. VR (see
`potent morphine-based analgesics. VR (see
`Figure 4) appears to help by distracting patients
`Figure 4) appears to help by distracting patients
`(especially children) from bum pain [6,7]. We
`(especially children) from bum pain [6,7]. We
`speculate that adding touch cues to virtual objects
`speculate that adding touch cues to virtual objects
`could make the objects more attention grabbing,
`could make the objects more attention grabbing,
`increasing the effectiveness of the VR distraction
`increasing the effectiveness of the VR distraction
`treatment.
`treatment.
`
`Figure 4: Burn patient distracted
`Figure 4: Burn patient distracted
`from his pain during wound care.
`from his pain during wound care.
`
`Use of VR for treatment of spider phobia.
`Use of VR for treatment of spider phobia.
`
`Encouraged by the successful application of
`Encouraged by the successful application of
`virtual reality to the desensitization of fear of
`virtual reality to the desensitization of fear of
`heights [8], my colleagues and I [9] recently
`heights [8], my colleagues and I [9] recently
`explored the use of virtual reality for treating
`explored the use of virtual reality for treating
`spider phobia. We took advantage of a mixed
`spider phobia. We took advantage of a mixed
`reality spider in the treatment of a severe spider
`reality spider in the treatment of a severe spider
`phobic. The subject interacted with a brown
`phobic. The subject interacted with a brown
`virtual spider (see Figure 5). The real-world
`virtual spider (see Figure 5). The real-world
`counterpart of the brown spider, used for tactile
`counterpart of the brown spider, used for tactile
`augmentation, consisted of a furry palm-sized
`augmentation, consisted of a furry palm-sized
`replica of a Guyana bird-eating tarantula. As the
`replica of a Guyana bird-eating tarantula. As the
`patient reached out with her cyberhand to explore
`patient reached out with her cyberhand to explore
`the virtual spider, her real hand explored the toy
`the virtual spider, her real hand explored the toy
`spider attached to a polhemus position sensor.
`spider attached to a polhemus position sensor.
`The virtual spider now felt furry, and had weight
`The virtual spider now felt furry, and had weight
`
`E Means
`E Means
`
`A BCD
`A BCD
`Question
`Question
`Figure 3: Predictions of subjects in
`Figure 3: Predictions of subjects in
`the see-only group (stripes) and the
`the see-only group (stripes) and the
`see-and-touch group (in black).
`see-and-touch group (in black).
`
`Discussion.
`Discussion.
`
`Results provide converging evidence for a
`Results provide converging evidence for a
`growing literature showing the value of adding
`growing literature showing the value of adding
`physical qualities to virtual objects (e.g., [2,5]).
`physical qualities to virtual objects (e.g., [2,5]).
`This study also demonstrates the effectiveness of
`This study also demonstrates the effectiveness of
`tactile augmentation as a technique for adding
`tactile augmentation as a technique for adding
`texture and force feedback cues to virtual objects.
`texture and force feedback cues to virtual objects.
`When subjects enter KitchenWorld, they have
`When subjects enter KitchenWorld, they have
`to adapt to this new environment. Adaptation
`to adapt to this new environment. Adaptation
`likely involves assessing what rules from the real
`likely involves assessing what rules from the real
`world apply in this strange virtual world. The
`world apply in this strange virtual world. The
`present study shows that the experience they have
`present study shows that the experience they have
`with the first virtual object they interact with can
`with the first virtual object they interact with can
`have a large influence on their perception of the
`have a large influence on their perception of the
`properties .of other virtual objects, and the "laws
`properties .of other virtual objects, and the "laws
`of nature" obeyed in that VE. The "cyberheft" of
`of nature" obeyed in that VE. The "cyberheft" of
`the plate experienced by subjects in the "see and
`the plate experienced by subjects in the "see and
`touch" group led them to expect other virtual
`touch" group led them to expect other virtual
`objects to have more realistic properties. Ideally,
`objects to have more realistic properties. Ideally,
`each virtual object that subjects are likely (or
`each virtual object that subjects are likely (or
`allowed) to touch or pick up will also be a mixed
`allowed) to touch or pick up will also be a mixed
`reality object. Achieving this ideal would be
`reality object. Achieving this ideal would be
`relatively easy with wireless position sensors and
`relatively easy with wireless position sensors and
`systems allowing large numbers of position
`systems allowing large numbers of position
`sensors (e.g., Ascension flock of birds position
`sensors (e.g., Ascension flock of birds position
`tracking system).
`tracking system).
`
`Future research: Practical
`Future research: Practical
`applications of tactile
`applications of tactile
`augmentation.
`augmentation.
`
`CK0004340
`
`

`
`("cyberheft") and any movement of the toy spider
`("cyberheft") and any movement of the toy spider
`caused a similar movement of the virtual spider.
`caused a similar movement of the virtual spider.
`Being able to touch the virtual spider
`Being able to touch the virtual spider
`dramatically heightened the intensity of the
`dramatically heightened the intensity of the
`fear/anxiety experienced by our patient, a
`fear/anxiety experienced by our patient, a
`manipulation important for successful treatment
`manipulation important for successful treatment
`using systematic desensitization. Desensitization
`using systematic desensitization. Desensitization
`to the virtual spider generalized to real spiders.
`to the virtual spider generalized to real spiders.
`Our patient made fast long term progress. One
`Our patient made fast long term progress. One
`year after treatment, she is no longer phobic of
`year after treatment, she is no longer phobic of
`real spiders. Two additional clinical-level spider
`real spiders. Two additional clinical-level spider
`phobics have now been successfully treated using
`phobics have now been successfully treated using
`VR exposure therapy with tactile augmentation.
`VR exposure therapy with tactile augmentation.
`We speculate that tactile augmentation helped
`We speculate that tactile augmentation helped
`generalization of training from virtual spiders to
`generalization of training from virtual spiders to
`real spiders by blurring the distinction between
`real spiders by blurring the distinction between
`real and virtual.
`real and virtual.
`
`Figure 5: Experimenter
`Figure 5: Experimenter
`demonstrating virtual spider.
`demonstrating virtual spider.
`
`Virtual-reality Monitoring
`Virtual-reality Monitoring
`
`The essence of immersive virtual reality is
`The essence of immersive virtual reality is
`the sensation users have that they are "there" in
`the sensation users have that they are "there" in
`another place. Users have a sense that they "go
`another place. Users have a sense that they "go
`into" the 3-D, immersive. computer-generated
`into" the 3-D, immersive. computer-generated
`environment. They become involved in events in
`environment. They become involved in events in
`VR, and these experiences leave memories.
`VR, and these experiences leave memories.
`Memories for events that occurred in VR
`Memories for events that occurred in VR
`constitute a new source of memories, different
`constitute a new source of memories, different
`from those traditionally studied (real events,
`from those traditionally studied (real events,
`imagined events, or dreams). Virtual-reality
`imagined events, or dreams). Virtual-reality
`monitoring [10], a variation of reality monitoring
`monitoring [10], a variation of reality monitoring
`[11] is the decision process by which people
`[11] is the decision process by which people
`discriminate and sometimes confuse memories of
`discriminate and sometimes confuse memories of
`real and virtual events.
`real and virtual events.
`In a recent study, Hoffman [12] exposed
`In a recent study, Hoffman [12] exposed
`subjects to 24 common objects (e.g., apple) one
`subjects to 24 common objects (e.g., apple) one
`at a time. Some objects were seen in VR, others
`at a time. Some objects were seen in VR, others
`were seen in the real world. A week later,
`were seen in the real world. A week later,
`subjects returned to take a source memory
`subjects returned to take a source memory
`identification test (36 items on test). They were
`identification test (36 items on test). They were
`
`shown the name of an object (e.g., spatula), and
`shown the name of an object (e.g., spatula), and
`had to decide whether they saw it in the real world
`had to decide whether they saw it in the real world
`during the study phase, in the virtual world, or if
`during the study phase, in the virtual world, or if
`it was new.
`it was new.
`In second experiment, subjects are able to
`In second experiment, subjects are able to
`physically touch the virtual objects using tactile
`physically touch the virtual objects using tactile
`augmentation. A real object (e.g., a rubber ball)
`augmentation. A real object (e.g., a rubber ball)
`is placed within the participant's grasp at the
`is placed within the participant's grasp at the
`location of the virtual object to explore the impact
`location of the virtual object to explore the impact
`of adding tactile cues on source memory
`of adding tactile cues on source memory
`identification accuracy. I predict that being able to
`identification accuracy. I predict that being able to
`physically touch virtual objects will result in the
`physically touch virtual objects will result in the
`formation of "chimeric" memories that are part
`formation of "chimeric" memories that are part
`real (the touch part) and part virtual (the visual
`real (the touch part) and part virtual (the visual
`part). The results reported in the present paper
`part). The results reported in the present paper
`show that being able to physically touch virtual
`show that being able to physically touch virtual
`objects can make the virtual objects and the VE
`objects can make the virtual objects and the VE
`much more realistic. This finding leads to a
`much more realistic. This finding leads to a
`prediction for performance in a virtual-reality
`prediction for performance in a virtual-reality
`monitoring task. Because mixed reality memories
`monitoring task. Because mixed reality memories
`will be more similar to real memories than
`will be more similar to real memories than
`untouched visual-only virtual objects, people will
`untouched visual-only virtual objects, people will
`be more likely to confuse real and virtual objects
`be more likely to confuse real and virtual objects
`in the "see and touch" condition than in the
`in the "see and touch" condition than in the
`"vision only" condition.
`"vision only" condition.
`Memory source confusions may serve as a
`Memory source confusions may serve as a
`human factors measure of how realistic users find
`human factors measure of how realistic users find
`the virtual experience. For YEs modelling the
`the virtual experience. For YEs modelling the
`real world, the greater the fidelity of the virtual
`real world, the greater the fidelity of the virtual
`environment to the real world, the more likely
`environment to the real world, the more likely
`subjects are to confuse the two, the higher the
`subjects are to confuse the two, the higher the
`quality of the VR system. Phenomenological
`quality of the VR system. Phenomenological
`qualities associated with virtual memories, which
`qualities associated with virtual memories, which
`"tip off" the user that these happened in VR, are
`"tip off" the user that these happened in VR, are
`targets for improvements in VR systems. Like
`targets for improvements in VR systems. Like
`other source monitoring tasks [see 13, 14],
`other source monitoring tasks [see 13, 14],
`virtual-reality monitoring may prove valuable for
`virtual-reality monitoring may prove valuable for
`understanding human memory (e.g., age-related
`understanding human memory (e.g., age-related
`declines in memory performance), and to
`declines in memory performance), and to
`"cybercognition", the study of how humans think
`"cybercognition", the study of how humans think
`in immersive and non-immersive computer(cid:173)
`in immersive and non-immersive computer(cid:173)
`simulated environments.
`simulated environments.
`
`Conclusion.
`Conclusion.
`
`Tactile augmentation differs from VR
`Tactile augmentation differs from VR
`systems that involve expensive, computer
`systems that involve expensive, computer
`generated force-feedback [15, 16]. Admittedly.
`generated force-feedback [15, 16]. Admittedly.
`there are numerous applications where computer(cid:173)
`there are numerous applications where computer(cid:173)
`generated force feedback devices are required (e.g.,
`generated force feedback devices are required (e.g.,
`telerobotics where sensory information from the
`telerobotics where sensory information from the
`remote location needs to be made available to the
`remote location needs to be made available to the
`user). When appropriate, a tactile augmentation
`user). When appropriate, a tactile augmentation
`system cost very little money, and the physical
`system cost very little money, and the physical
`
`CK0004341
`
`

`
`textures of the real objects (e.g., the fuzzy feel of
`textures of the real objects (e.g., the fuzzy feel of
`a peach) are hard to reproduce in computer
`a peach) are hard to reproduce in computer
`simulations. Furthermore, input from real objects
`simulations. Furthermore, input from real objects
`is computationally inexpensive, safe, and allows
`is computationally inexpensive, safe, and allows
`large freedom of motion. And studies using this
`large freedom of motion. And studies using this
`shortcut may inform the design of computer(cid:173)
`shortcut may inform the design of computer(cid:173)
`generated force feedback devices.
`generated force feedback devices.
`
`Acknowledgments
`Acknowledgments
`
`This research was supported by AFOSR grant
`This research was supported by AFOSR grant
`#F49620-93-1-0339, as well as Tom Furness and
`#F49620-93-1-0339, as well as Tom Furness and
`the HITLab industrial consortium. Thanks to
`the HITLab industrial consortium. Thanks to
`Joris Groen, Ari Hollander, Bill Winn, and Max
`Joris Groen, Ari Hollander, Bill Winn, and Max
`Wells for stimulating discussion, ideas, and
`Wells for stimulating discussion, ideas, and
`programming, and to cyberartist Scott Rousseau
`programming, and to cyberartist Scott Rousseau
`for preparation of the stimuli.
`for preparation of the stimuli.
`
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