Skip to main content
SpringerLink
Log in

Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans

  • Conference paper
  • First Online:
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 6))

Abstract

We have been developing a visual/haptic interface to virtual environments, called a WYSIWYF Display, which ensures spatially/temporally consistent visual/haptic sensation. Three key components are (i) vision-based tracking for correct visual/haptic registration (ii) blending live video and computer graphics (CG) images by a chroma-keying technique, and (iii) encountered-type haptic rendering that provides real free and real touch sensations.

In this paper, the recent progress on the above key components are presented. First, accurate image overlay technique by using vision and accelerometers is shown. Then, a path planning for encountered-type haptic devices that render multiple virtual objects is presented. A virtual control panel of automobiles was developed to demonstrate the proposed path-planning algorithm.

The developed visual/haptic interface system can be regarded as a kind of mechano-media, a new concept extending the framework of teleoperation, which transmit kinesthetic knowledge from a human to other humans.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  • Azuma R (1997) A survey of augmented reality. Presence, 6(4):355–385.

    Google Scholar 

  • Azuma R, Bishop G (1994) Improving static and dynamic registration in an optical see-through hmd. In Proceedings of SIGGRAPH’94, pp 197–204.

    Google Scholar 

  • Burdea GC (1996) Force and touch feedback for virtual reality. Jhon Wiley & Sons.

    Google Scholar 

  • Dickmanns ED, Mysliwetz B, Christians T (1990) An integrated spatio-temporal approach to automatic visual guidance of autonomous vehicles. IEEE Trans. Sys., Man, and Cyb., 20(6): 1273–1284.

    Article  Google Scholar 

  • Groen J, Werkhoven PJ (1998) Visuomotor adaptation to virtual hand positioning in interactive virtual environment. Presence, 7(5):429–446.

    Article  Google Scholar 

  • Gruenbaum PE et al. (1997) Implementation of dynamic robotic graphics for a virtual control panel. Presence, 6(1): 118–126.

    Google Scholar 

  • Henmi K, Yoshikawa T (1998) Virtual lesson and its application to virtual calligraphy system. In Proc. IEEE ICRA’98, pp 1275–1280.

    Google Scholar 

  • McNeely WA (1993) Robotic graphics: a new approach to force feedback for virtual reality. In Proc. 1993 IEEE Virtual Reality Annual International Symposium (VRAIS’93), pp 336–341.

    Google Scholar 

  • Preparata FP, Shamos MI (1985) Computational geometry. Springer-Verlag, New York.

    Google Scholar 

  • Tachi S et al. (1994) A construction method of virtual haptic space. In Proc. of Int. Conf. on Artificial Reality and Telepresence (ICAT’94), pp 131–138.

    Google Scholar 

  • Uenohara M, Kanade T (1995) Vision-based object registration for real-time image overlay. Comput.,Biol., Med.,, 25(2):249–260.

    Article  Google Scholar 

  • Yokokohi Y (2001) Toward mechano-media from teleoperation. In Proc. Workshop on Advances in Interactive Multimodal Telepresence Systems, pp 3–20, Munich, Germany.

    Google Scholar 

  • Yokokohi Y, Kinoshita J, Yoshikawa T (2001) Path planning for encountered-type haptic devices that render multiple objects in 3D space. In Proc. IEEE VR 2000, pp 271–278.

    Google Scholar 

  • Yokokohi Y, Sugawara Y, Yoshikawa T (2000) Accurate image overlay on video see-through HMDs using vision and accelerometers. In Proc. IEEE VR 2000, pp 247–254.

    Google Scholar 

  • Yokokohji Y (1998) A visual/haptic interface to virtual environment (WYSIWYF display) and its application. In Proc. 1998 IEEE and ATR Workshop on Computer Vision for Virtual Reality Based Human Communications (CVVRHC’98), pp 99–104.

    Google Scholar 

  • Yokokohji Y et al. (1996a) Toward machine mediated training of motor skill. In Proc. IEEE RO-MAN’96, pp 32–37.

    Google Scholar 

  • Yokokohji Y, Hollis RL, Kanade T (1996b) What you can see is what you can feel-development of a visual/haptic interface to virtual environment-. In Proc. 1996 IEEE Virtual Reality Annual International Symposium (VRAIS’96), pp 46–53.

    Google Scholar 

  • Yokokohji Y, Hollis RL, Kanade T (1999) WYSIWYF display: a visual/haptic interface to virtual environment. Presence, 8(4):412–434.

    Article  Google Scholar 

  • You S, Neumann U, Azuma R (1999) Hybrid internal and vision tracking for augmented reality registration. In Proc. of IEEE VR99, pp 260–267.

    Google Scholar 

Download references

Author information

Author notes

  1. Yoshihiko Sugawara

    Present address: Denso Corporation, Japan

  2. Junji Kinoshita

    Present address: Hitachi, LTD., Japan

Authors and Affiliations

  1. Department of Mechanical Engineering, Kyoto University, Kyoto, 606-8501, Japan

    Yasuyoshi Yokokohji, Yoshihiko Sugawara, Junji Kinoshita & Tsuneo Yoshikawa

Authors
  1. Yasuyoshi Yokokohji
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yoshihiko Sugawara
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Junji Kinoshita
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Tsuneo Yoshikawa
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Dept. of Electrical and Computer Systems Engineering, Monash University, Clayton, VIC, 3800, Australia

    Raymond Austin Jarvis

  2. Dept. of Systems Engineering, The Australian National University, Canberra, ACT, 0200, Australia

    Alexander Zelinsky

Rights and permissions

Reprints and permissions

Copyright information

© 2003 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Yokokohji, Y., Sugawara, Y., Kinoshita, J., Yoshikawa, T. (2003). Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_33

Download citation

  • DOI: https://doi.org/10.1007/3-540-36460-9_33

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00550-6

  • Online ISBN: 978-3-540-36460-3

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation