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Title: Visuo-Haptic Mixed Reality Simulation Using Unbound Handheld Tools
Authors: Aygün, Mehmet Murat
Ögüt, Yusuf Çagri
Baysal, Hulusi
Taşcıoğlu, Yiğit
Keywords: visuo-haptic
mixed reality
encountered-type haptic display
haptic interfaces
Issue Date: 2020
Publisher: Mdpi
Abstract: Featured Application The proposed VHMR system is ideal for training simulations of dental procedures, oral and maxillofacial surgery, and pedicle screw placement, as these applications require stiffer interactions with multiple tools in a limited workspace. Visuo-haptic mixed reality (VHMR) adds virtual objects to a real scene and enables users to see and also touch them via a see-through display and a haptic device. Most studies with kinesthetic feedback use general-purpose haptic devices, which require the user to continuously hold an attached stylus. This approach constrains users to the mechanical limits of the device even when it is not needed. In this paper, we propose a novel VHMR concept with an encountered-type haptic display (ETHD), which consists of a precision hexapod positioner and a six-axis force/torque transducer. The main contribution is that the users work with unbound real-life tools with tracking markers. ETHD's end-effector remains inside the virtual object and follows the tooltip to engage only during an interaction. We have developed a simulation setup and experimentally evaluated the relative accuracy and synchronization of the three major processes, namely tool tracking, haptic rendering, and visual rendering. The experiments successfully build-up to a simple simulation scenario where a tennis ball with a fixed center is deformed by the user.
ISSN: 2076-3417
Appears in Collections:Makine Mühendisliği Bölümü / Department of Mechanical Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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