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`UNCLASSIFIED
`
`IDAPAPER P-3186
`
`REVIEW OF VIRTUAL ENVIRONMENT
`INTERFACE TECHNOLOGY
`
`Christine Youngblut
`Rob E. Johnston
`Sarah H. Nash
`Ruth A. Wienclaw
`Craig A. Will
`
`March 1996-
`
`Approved tor public release, unlimited distribution: 16 July 1996 .
`
`19960916139
`
`INSTITUTE
`1801 N. Beauregard
`
`FOR DEFENSE ANALYSES
`Street, Alexandria,
`Virginia
`22311-1772
`
`~MIC QUAL.l'l'Y .rnl~iECTED 3 UNCLASSIFIED
`
`IDA Log No. H 96-001239
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`IPR2018-01045
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`The work was conducted under IDA's central research program. The
`publication of this IDA document does not indicate endorsement by the
`Department of Defense, nor should the contents be construed as
`reflecting the official position of that Agency.
`
`© 19~6 Institute for Defense Analyses, 1801 N. Beauregard Street,
`Alexandria, Virginia 22311-1772 • (703) 845-2000.
`
`This material may be reproduced by or for the U.S. Government pursuant
`to the copyright license under the clause at DFARS 252.227-7013
`(10/88).
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`REPORT DOCUMENTATIOW PAGE
`
`Form Approved
`0MB No. 0704-0188
`
`including the time for reviewing instructions. searching existing data source_s.
`Public reponing burden for this collection of information is estimated to average I hour per re~nse,
`gathering and maintaining the data needed, and completing and reviewing the collection of in orrnation. Send comments regarding this burden estimate or any other aspect of this
`collection of information, including suggestions for reducing this burden, to Washington Headquaners Services, Directorate for Information Operations and Repons, 1215 Jefferson
`Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188). Washington, DC 20503.
`
`I. AGENCY USE ONLY (Leave blank)
`
`2. REPORT DATE
`March 1996
`
`3. REPORT TYPE AND DATES COVERED
`Final
`
`4. TITLE AND SUBTITLE
`Review of Virtual Environment Interface Technology
`
`5. FUNDING NUMBERS
`IDA Central Research Program
`(CRP) 9001-512
`
`6. AUTHOR(S)
`Christine Youngblut, Rob E. Johnston, Sarah H. Nash, Ruth A. Wienclaw,
`Craig A. Will
`
`7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES)
`Institute for Defense Analyses
`(IDA)
`180 I N. Beauregard St.
`Alexandria, VA 22311-1772
`
`9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)
`Institute for Defense Analyses (IDA)
`1801 N. Beauregard St.
`Alexandria, VA 22311-1772
`
`I I. SUPPLEMENTARY NITTES
`
`8. PERFORMING ORGANIZATION REPORT
`NUMBER
`IDA Paper P-3186
`
`10. SPONSORING/MONITORING AGENCY
`REPORT NUMBER
`
`12a. DISTRIBUTION/AVAILABILITY STATEMENT
`Approved for public release, unlimited distribution: 16 July 1996.
`
`12b. DISTRIBUTION CODE
`2A
`
`13. ABSTRACT (Maximum 200 words)
`This report reviews current interface technology for use in virtual environments. Visual, tracking, ·
`auditory, primary user input (including, for example, glove, body suit, exoskeleton, track ball, and 3-
`D mouse inputs), tactile, kinesthetic, full-body motion, and olfactory interface technologies are
`covered . In each case, the relevant human capabilities are discussed, followed by descriptions of
`some .available commercial products and ongoing research and development efforts. This information
`is used as the basis for predicting how virtual environment interfaces are likely to change in the next
`five years .
`
`14. SUBJECT TERMS
`Virtual Environments, Virtual Reality, User Interfaces, Interface Technology.
`
`17. SECURITY CLASSIFICATION 18. SECURITY CLASSIFICATION 19. SECURITY CLASSIFICATION
`OFTHISPAGE
`OF REPORT
`OF ABSTRACT
`Unclassified
`Unclassified
`Unclassified
`NSN 7540-01-280-5500
`
`15. NUMBER OF PAGES
`282
`16. PRICE CODE
`
`20. LIMITATION OF ABSTRACT
`SAR
`Standard Form 298 (Rev. 2-89)
`Prescribed by ANSI Std. Z39-18
`298-102
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`UNCLASSIFIED
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`IDA PAPER P-3186
`
`REVIEW OF VIRTUAL ENVIRONMENT
`INTERFACE TECHNOLOGY
`
`Christine Youngblut
`Robert E. Johnston
`Sarah H. Nash
`Ruth A. Wienclaw
`Craig A. Will
`
`March 1996
`
`Approved tor publlc release, unllmlled distribution: 16 July 1996 .
`
`4'!.
`IDA
`INSTITUTE FOR DEFENSE ANALYSES
`IDA Central Research Project 9001-512
`
`DTIC QUALI'l'Y INSPECTED 3
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`UNCLASSIFIED
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`PREFACE
`
`This report presents a review of virtual environment interface technology from the
`perspective of the user, that is, the devices and requirements that are imposed on the user in
`order to interact with a virtual environment. Most of the work was performed as part of a
`Central Research Project, Research and Development in Virtual Environments, with some
`additional support provided by Task A-183, Virtual Reality Assessment of the Technical
`Capabilities of Surgeons and Task T-L2-1278, Cost and Effectiveness of Multimedia Train(cid:173)
`ing Technologies.
`
`The report was reviewed by the following staff members at the Institute for Defense
`Analyses: Mr. Robert L. Clover, Ms. Anne A. Douville, Dr. Dexter Fletcher, Dr. Richard
`J. Ivanetich, Dr. Michael R. Kappel, and Ms. Julia J. Loughran.
`
`The authors gratefully acknowledge the support provided by all those who took
`time from their busy schedules to discuss their products and their work .
`
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`Table of Contents
`
`EXECUTIVE SUMMARY ........................................................................................ ES-I
`
`1. INTRODUCTION ....................................................................................................... 1
`
`1.1 Purpose .................................................................................................................. 2
`1.2 Scope ..................................................................................................................... 3
`1.3 Limitations ............................................................................................................. 3
`1.3.1 Organization .......................... : ...................................................................... 4
`
`2. VISUAL INTERFACES ..................... · ......................................................................... 5
`
`2.1 The Human Visual System .................................................................................... 6
`2.2 Commercial Products .......................................................................................... 10
`2.2.1 Datavisor Displays ..................................................................................... 12
`2.2.2 FS5 Head-Mounted Display ....................................................................... 13
`2.2.3 CyberEye IOOM and lOOS ......................................................................... 13
`2.2.4 CyberMaxx CM1800 .................................................................................. 14
`2.2.5 Dvisor Head-Mounted Display .................................................................. 14
`2.2.6 i-glasses! ..................................................................................................... 15
`2.2.7 MRG Head-Mounted Displays ................................................................... 15
`2.2.8 VIM Personal Viewer ................................................................................. 16
`2.2.9 VFXI Head-Mounted Display System ...................................................... 17
`2.2.10 VR4 Head-Mounted Display .................................................................... 18
`2.2.11 VRI HMO 133 .......................................................................................... 18
`2.2.12 CrystalEyes Shutter Glasses ..................................................................... 19
`2.2.13 VR-1100 and VR-2000 Stereoscopic Projection Systems ....................... 20
`2.2.14 BOOM 3C ................................................................................................ 21
`2.2.15 Cyberf ace 4 .............................................................................................. 22
`2.2.16 Fakespace Simulation System .................................................................. 23
`2.2.17 PUSH ........................................................................................................ 23
`2.2.18 Virtual Window ........................................................................................ 24
`2.3 Current Research and Development .................................................................... 24
`2.3.1 A TR Communications System Research Laboratories, Japan ................... 25
`2.3.2 British Aerospace pie, United Kingdom .................................................... 27
`2.3.3 BT Laboratories, United Kingdom ............................................................. 29
`
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`2.3.4 Canon, Inc., Japan ...................................................................................... 30
`2.3.5 Dimension Technologies, Inc ..................................................................... 31
`2.3.6 Dimensional Media Associates .................................................................. 33
`2.3.7 IBM Thomas J. Watson Research Center and Georgia Institute of
`Technology .................................................................................................. 33
`2.3.8 Infinity Multimedia .................................................................................... 34
`2.3.9 NASA Ames Research Center ................................................................... 35
`2.3.10 Purdue University ..................................................................................... 36
`2.3.11 Terumo Corporation, Japan ...................................................................... 37
`2.3.12 University of Illinois at Chicago .............................................................. 38
`2.3.13 University of New Brunswick, Canada .................................................... 39
`2.3.14 University of Washington ........................................................................ 40
`2.3.15 Xenotech, Australia .................................................................................. 41
`2.4 Summary and Expectations ................................................................................. 43
`
`3. TRACKING INTERFACES ...................................................................................... 47
`
`3.1 Head Tracking ................................. : ................................................................... 48
`3.1.1 Commercially Available Trackers ............................................................. 53
`3.1.1.1 ADL-1 .............................................................................................. 53
`3.1.1.2 Vidtronics Wrightrac ....................................................................... 54
`3.1.1.3 Fastrak .............................................................................................. 54
`3.1.1.4 Isotrak II ........................................................................................... 54
`3.1.1.5 lnsidetrak .......................................................................................... 54
`3.1.1.6 Ultratrak ........................................................................................... 55
`3.1.1.7 Flock of Birds .................................................................................. 55
`3.1.1.8 PC/BIRD .......................................................................................... 56
`3.1.1.9 SpacePad .......................................................................................... 56
`3.1.1.10 CyberTrack 3.2 .............................................................................. 57
`3.1.1.11 Wayfinder-VR ................................................................................ 57
`3.1.1.12 Mouse-Sense3D ............................................................................. 57
`3.1.1.13 Selcom AB, SELSPOT II .............................................................. 57
`3.1.1.14 OPTOTRAK 3020 ......................................................................... 58
`3.1.1.15 MacReflex Motion Measurement System ..................................... 58
`3.1.1.16 DynaSight ...................................................................................... 59
`3.1.1.17 BioVision ....................................................................................... 59
`3.1.1.18 Mandala Virtual Reality Systems .................................................. 60
`3.1.1.19 REALWare .................................................................................... 60
`3.1.1.20 RK-447 Multiple Target Tracking System .................................... 61
`3.1.1.21 Head/Hand XYZ Tracker ............................................................... 61
`3.1.1.22 GP12-3D (Freepoint 3D) ............................................................... 62
`3.1.1.23 Logitech ,3D Mouse and Head Tracker .......................................... 62
`3.1.1.24 MotionPak .............................................. :.: ..................................... 62
`3 .1.1.25 Gyro Point Pro ................................................................................ 63
`3.1.2 Current R&D in Head Tracking ................................................................. 63
`
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`3.1.2.1 NASA Ames Research Center ......................................................... 63
`3.1.2.2 Massachusetts Institute of Technology (MIT), Research
`Laboratory of Electronics ................................................................ 64
`3.1.2.3 Computer Graphics Systems Development (CGSD) Corporation ... 64
`3.1.2.4 University of North Carolina ........................................................... 65
`3 .1.2.5 Artificial Reality .............................................................................. 66
`3.1.2.6 Massachusetts Institute of Technology, Media Lab ........................ 67
`3.1.2.7 Sony, Computer Science Laboratory ............................................... 67
`3.1.2.8 Siemens' Central Research and Development ................................. 68
`3.1.2.9 Boeing Information and Support Services, CMU,
`Honeywell, Inc., and Virtual Vision, Inc ......................................... 68
`3.1.2.10 University of Washington .............................................................. 70
`3.2 Eye Tracking ....................................................................................................... 70
`3.2.1 Commercially Available Eye Trackers ...................................................... 70
`3.2.1.1 BioMuse ........................................................................................... 70
`3.2.1.2 Headhunter Head and Eye Tracking System ................................... 72
`3.2.1.3 Eyegaze System ............................................................................... 72
`3.2.1.4 Dual-Purkinje-Image (DPI) Eyetracker ........................................... 73
`3.2.2 Current R&D in Eye Tracking ................................................................... 73
`3.2.2.1 Hughes Training-Link Corporation ................................................. 74
`3.2.2.2 Interactive Systems Laboratories (INTERACT) ............................. 74
`3.2.2.3 State University of New York .......................................................... 75
`3.2.3 Summary and Expectations ........................................................................ 76
`
`4. AUDITORY INTERFACES ..................................................................................... 79
`
`4.1 The Human Auditory System .............................................................................. 80
`4.2 Commercially Available 3-D Audio Products .................................................... 85
`4.2.1 Acoustetron II ............................................................................................. 85
`4.2.2 Protron ........................................................................................................ 88
`4.2.3 Q Products .................................................................................................. 88
`4.2.4 RSS-10 Sound Space Processor ................................................................. 89
`4.2.5 SDX-330 Dimensional Expander ............................................................... 90
`4.2.6 SRV-330 Dimensional Space Reverb and SDE-330
`Dimensional Space Delay .......................................................................... 91
`4.2.7 SoundStorm 3D .......................................................................................... 93
`4.2.8 Virtual Audio Processing System .............................................................. 93
`4.3 Current Research and Development .................................................................... 94
`4.3.1 NASA Ames ............................................................................................... 94
`4.3.2 Naval Postgraduate School ......................................................................... 95
`4.4 Summary and Expectations ................................................................................. 95
`
`5. PRIMARY USER INPUT INTERFACES ................................................................ 97
`
`5.1 Whole-Hand and Body Inputs ............................................................................. 97
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`5.1.1 The Human Hand and Arm Position Sense ................................................ 98
`5.1.2 Commercially Available Devices ............................................................... 99
`5.1.2.1 5th Glove .......................................................................................... 99
`5.1.2.2 CyberGlove .................................................................................... 101
`5.1.2.3 Dextrous HandMaster .................................................................... 102
`5.1.2.4 Pinch Glove .................................................................................... 103
`5.1.2.5 Position Exoskeleton ArmMaster .................................................. 103
`5.1.2.6 TCAS DATAWEAR
`..................................................................... 104
`5.1.3 Current Research and Development ......................................................... 105
`5.1.3.1 Armstrong Laboratory ................................................................... 105
`5.1.3.2 Georgia Institute of Technology .................................................... 106
`5.2 3-D Pointing Input ............................................................................................. 107
`5.2.1 Commercially Available Devices ............................................................. 107
`5.2.1.1 CyberWand .................................................................................... 107
`5.2.1.2 Immersion PROBE-MD ................................................................. 108
`5.2.1.3 Magellan 3D Controller and Space Controller .............................. 109
`5.2.1.4 RingMouse ..................................................................................... 109
`5.2.1.5 Spaceball 2003 and Space Controller ............................................ 110
`5.2.2 Current R&D ............................................................................................ 111
`5.2.2.1 Digital Image Design Inc ............................................................... 111
`5.2.2.2 University of Toronto .................................................................... 112
`5.3 Summary and Expectations ............................................................................... 114
`
`6. HAPTIC INTERFACES .......................................................................................... 117
`
`6.1 Tactile Interfaces ............................................................................................... 117
`6.1.1 The Human Tactile Sense ........................................................................ 120
`6.1.2 Commercially Available Interface Devices ............................................. 123
`6.1.2.1 CyberTouch .................................................................................... 125
`6.1.2.2 TouchMaster .................................................................................. 125
`6.1.2.3 Tactool System ............................................................................... 127
`6.1.2.4 Displaced Temperature Sensing System ........................................ 127
`6.1.3 Current Research and Development ......................................................... 128
`6.1.3.1 Armstrong Laboratory ................................................................... 129
`6.1.3.2 Begej Corporation .......................................................................... 130
`6.1.3.3 Harvard University ......................................................................... 130
`6.1.3.4 Hokkaido University, Japan ........................................................... 133
`6.1.3.5 Hull University, UK ....................................................................... 134
`6.1.3.6 Massachusetts Institute of Technology .......................................... 134
`6.1.3.7 Research Center at Karlsruhe, Germany ........................................ 135
`6.1.3.8 Sandia National Laboratories ......................................................... 136
`6.1.3.9 TiNi Alloy Company ..................................................................... 137
`6.1.3.10 University of Salford, UK ............................................................ 138
`6.2 Kinesthetic Interfaces ........................................................................................
`139
`6.2.1 The Human Kinesthetic Sense ................................................................. 140
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`6.2.2 Commercially Available Devices ............................................................. 144
`6.2.2.1 4 DOF Force Feedback Master (Surgical Simulator) .................... 144
`. 6.2.2.2 Force Exoskeleton ArmMaster ...................................................... 144
`6.2.2.3 Impulse Engine Family .................................................................. 147
`6.2.2.4 lnteractor and lnteractor Cushion .................................................. 148
`6.2.2.5 HapticMaster .................................................................................. 148
`6.2.2.6 Hand Exoskeleton Hap tic Display ................................................. 149
`6.2.2.7 PER-Force 3DOF ........................................................................... 150
`6.2.2.8 PER-Force Handcontroller and Finger Forcer Option ................... 151
`6.2.2.9 PHANToM ..................................................................................... 153
`6.2.2.10 SAFiRE ........................................................................................ 154
`6.2.3 Current R&D ............................................................................................ 154
`6.2.3.1 Boeing Computer Services ............................................................ 155
`6.2.3.2 Computer Graphics Systems Development Corporation ............... 156
`6.2.3.3 Hokkaido University, Japan ........................................................... 157
`6.2.3.4 Massachusetts Institute of Technology, Artificial
`Intelligence Laboratory .................................................................. 158
`6.2.3.5 Massachusetts Institute of Technology, Department of
`Mechanical Engineering ................................................................ 159
`6.2.3.6 McGill University, Canada ............................................................ 161
`6.2.3.7 Ministry of International Trade and Industry, Agency of
`Industrial Science and Technology (MITI/ AIST), Japan .............. 163
`6.2.3.8 Northwestern University ................................................................ 164
`6.2.3.9 Rutgers University ......................................................................... 166
`6.2.3.10 Suzuki Motor Corporation ........................................................... 168
`6.2.3.11 Tokyo Institute of Technology, Japan ......................................... 170
`6.2.3.12 University of North Carolina ....................................................... 172
`6.2.3.13 University ofTsukuba, Japan ...................................................... 174
`6.2.3.14 University of Washington ............................................................ 175
`6.3 Summary and Expectations ............................................................................... 176
`
`7. FULL BODY MOTION INTERFACES ................................................................. 181
`
`7 .1 The Human Motion Sense ................................................................................. 182
`7.2 Self-Motion Interfaces ....................................................................................... 186
`7 .2.1 Commercial Products ............................................................................... 186
`7.2.1.1 Aerotrim ......................................................................................... 188
`7 .2.1.2 CyberPak ........................................................................................ 188
`7.2.1.3 CyberTron ...................................................................................... 189
`7.2.1.4 DreamGlider .................................................................................. 189
`7.2.1.5 Orbotron, X-otron VR, and Supertron ........................................... 190
`7.2.1.6 PemRAM Motion Bases ................................................................ 191
`7.2.1.7 SimuPod ......................................................................................... 193
`7 .2.1.8 SimuSled ........................................................................................ 193
`7 .2.2 Current Research and Development ......................................................... 194
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`7 .2.2.1 Computer Graphics Systems Development Corporation ............... 194
`7.2.2.2 Cybemet Systems Corporation ...................................................... 195
`7 .2.2.3 Institute for Simulation and Training ............................................. 195
`7 .2.2.4 Sarcos Research Corporation ......................................................... 196
`7 .2.2.5 Systran Corporation ...................................................................... 197
`7 .2.2.6 University College London, UK .................................................... 198
`7.2.2.7 University of Tsukuba, Japan ........................................................ 199
`7.3 Passive Motion Interfaces .................................................................................. 201
`7.3.1 Commercial Products ............................................................................... 201
`7.3.1.1 Cyber Air Base ............................................................................... 201
`7 .3.1.2 Cyberchair ...................................................................................... 203
`7 .3.1.3 CyberMotion Interactive Motion Seat ........................................... 203
`7 .3.1.4 IntelliSeat ....................................................................................... 204
`7.3.1.5 SIM245 .......................................................................................... 205
`7.3.2 Current Research and Development ......................................................... 205
`7 .3 .2.1 Denne Developments Limited ....................................................... 205
`7.3.2.2 Flogiston Corporation .................................................................... 205
`7.4 Summary and Expectations ........... : ................................................................... 206
`
`8. OLFACTORY INTERFACES ................................................................................ 209
`
`8.1 The Human Olfactory Sense .............................................................................. 212
`8.2 Commercial Products ........................................................................................ 213
`8.2.1 BOC Group Olfactory Delivery System .................................................. 213
`8.2.2 Smell-Enhanced Experience System ........................................................ 213
`8.3 Current Research and Development in Olfactory Interfaces ............................. 214
`8.3.1 Artificial Reality Corporation .................................................................. 214
`8.3.2 Marketing Aromatics, Ltd ........................................................................ 215
`8.4 Summary and Expectations ........ : ...................................................................... 216
`
`9. CONCLUSIONS ...................................................................................................... 217
`
`REFERENCES ............................................................................................................. 233
`
`LIST OF ACRONYMS AND ABBREVIATIONS ..................................................... 235
`
`APPENDIX A. POINTS OF CONT ACT .................................................................... 239
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`List of Figures
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`Figure 1. LEEP Optical Viewer ....................................................................................... 10
`
`Figure 2. Datavisor 10x/9ci. ............................................................................................. 12
`
`Figure 3. FS5 Head-Mounted Display ............................................................................. 13
`
`Figure 4. CyberEye 100M and lOOS ................................................................................ 13
`
`Figure 5. CyberMaxx CM1800 Display .......................................................................... 14
`
`Figure 6. CyberMaxx CM1800 Tracking ........................................................................ 14
`
`Figure 7. Dvisor Head-Mounted Display .... : .................................................................... 15
`
`Figure 8. i-glasses! ...........................................................................................................
`
`16
`
`Figure 9. MRG 2.2 Head-Mounted Display .................................................................... 16
`
`Figure 10. MRG 3c Head-Mounted Display .................................................................... 17
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`Figure 11. MRG 4 Head-Mounted Display ..................................................................... 17
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`Figure 12. VIM Personal Viewer lOOOHRpv .................................................................. 18
`
`Figure 13. VFXl Head-Mounted Display System ........................................................... 18
`
`Figure 14. VR4 and VR4000 Head-Mounted Displays ................................................... 19
`Figure 15. VRI HMD 133 ........ : ....................................................................................... 19
`Figure 16. CrystalEyes Shutter Glasses ........................................................................... 20
`
`Figure 17. VR-1100 Stereoscopic Projection System ...................................................... 21
`
`Figure 18. VR-2000 Stereoscopic Projection System ...................................................... 21
`
`Figure 19. BOOM 3C Visual Display .............................................................................. 22
`
`Figure 20. BOOM 3C Tracking ....................................................................................... 22
`
`Figure 21. Cyberface 4 ................................................................