skip to main content
10.1145/3173574.3174034acmconferencesArticle/Chapter ViewAbstractPublication PageschiConference Proceedingsconference-collections
research-article

Conveying the Perception of Kinesthetic Feedback in Virtual Reality using State-of-the-Art Hardware

Published: 21 April 2018 Publication History

Abstract

Including haptic feedback in current consumer VR applications is frequently challenging, since technical possibilities to create haptic feedback in consumer-grade VR are limited. While most systems include and make use of the possibility to create tactile feedback through vibration, kinesthetic feedback systems almost exclusively rely on external mechanical hardware to induce actual sensations so far. In this paper, we describe an approach to create a feeling of such sensations by using unmodified off-the-shelf hardware and a software solution for a multi-modal pseudo-haptics approach. We first explore this design space by applying user-elicited methods, and afterwards evaluate our refined solution in a user study. The results show that it is indeed possible to communicate kinesthetic feedback by visual and tactile cues only and even induce its perception. While visual clipping was generally unappreciated, our approach led to significant increases of enjoyment and presence.

Supplementary Material

suppl.mov (pn3777-file3.mp4)
Supplemental video

References

[1]
Mahdi Azmandian, Mark Hancock, Hrvoje Benko, Eyal Ofek, and Andrew D Wilson. 2016. Haptic retargeting: Dynamic repurposing of passive haptics for enhanced virtual reality experiences. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. ACM, 1968--1979.
[2]
Karlin Bark, Jason Wheeler, Gayle Lee, Joan Savall, and Mark Cutkosky. 2009. A wearable skin stretch device for haptic feedback. In EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint. IEEE, 464--469.
[3]
Hrvoje Benko, Christian Holz, Mike Sinclair, and Eyal Ofek. 2016. NormalTouch and TextureTouch: High-fidelity 3D Haptic Shape Rendering on Handheld Virtual Reality Controllers. In Proceedings of the 29th Annual Symposium on User Interface Software and Technology. ACM, 717--728.
[4]
Jonathan Blake and Hakan B Gurocak. 2009. Haptic glove with MR brakes for virtual reality. IEEE/ASME Transactions On Mechatronics 14, 5 (2009), 606--615.
[5]
Blueteak. 2016. QuiVr. Game {HTC Vive}. (20 Dec 2016). Alvios Inc.
[6]
Mourad Bouzit, Grigore Burdea, George Popescu, and Rares Boian. 2002. The Rutgers Master II-new design force-feedback glove. IEEE/ASME Transactions on mechatronics 7, 2 (2002), 256--263.
[7]
Daniel KY Chen, Iain A Anderson, Cameron G Walker, and Thor F Besier. 2016. Lower extremity lateral skin stretch perception for haptic feedback. IEEE transactions on haptics 9, 1 (2016), 62--68.
[8]
Lung-Pan Cheng, Thijs Roumen, Hannes Rantzsch, Sven Köhler, Patrick Schmidt, Robert Kovacs, Johannes Jasper, Jonas Kemper, and Patrick Baudisch. 2015. Turkdeck: Physical virtual reality based on people. In Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology. ACM, 417--426.
[9]
Lionel Dominjon, Anatole Lécuyer, J-M Burkhardt, Paul Richard, and Simon Richir. 2005. Influence of control/display ratio on the perception of mass of manipulated objects in virtual environments. In Virtual Reality, 2005. Proceedings. VR 2005. IEEE. IEEE, 19--25.
[10]
Takahiro Endo, Haruhisa Kawasaki, Tetsuya Mouri, Yasuhiko Ishigure, Hisayuki Shimomura, Masato Matsumura, and Kazumi Koketsu. 2011. Five-fingered haptic interface robot: HIRO III. IEEE Transactions on Haptics 4, 1 (2011), 14--27.
[11]
Farzam Farbiz, Zhou Hao Yu, Corey Manders, and Waqas Ahmad. 2007. An electrical muscle stimulation haptic feedback for mixed reality tennis game. In ACM SIGGRAPH 2007 posters. ACM, 140.
[12]
Peter E Gruenbaum, William A McNeely, HA Sowizral, TL Overman, and BW Knutson. 1997. Implementation of dynamic robotic graphics for a virtual control panel. Presence: Teleoperators and Virtual Environments 6, 1 (1997), 118--126.
[13]
Xiaochi Gu, Yifei Zhang, Weize Sun, Yuanzhe Bian, Dao Zhou, and Per Ola Kristensson. 2016. Dexmo: An Inexpensive and Lightweight Mechanical Exoskeleton for Motion Capture and Force Feedback in VR. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. ACM, 1991--1995.
[14]
Hunter G Hoffman. 1998. Physically touching virtual objects using tactile augmentation enhances the realism of virtual environments. In Virtual Reality Annual International Symposium, 1998. Proceedings., IEEE 1998. IEEE, 59--63.
[15]
Wijnand A IJsselsteijn, Yvonne A W de Kort, and Antal Haans. 2006. Is this my hand I see before me? The rubber hand illusion in reality, virtual reality, and mixed reality. Presence: Teleoperators and Virtual Environments 15, 4 (2006), 455--464.
[16]
Seungzoo Jeong, Naoki Hashimoto, and Sato Makoto. 2004. A novel interaction system with force feedback between real-and virtual human: an entertainment system: virtual catch ball. In Proceedings of the 2004 ACM SIGCHI International Conference on Advances in computer entertainment technology. ACM, 61--66.
[17]
Oliver Beren Kaul and Michael Rohs. 2017. HapticHead: A Spherical Vibrotactile Grid around the Head for 3D Guidance in Virtual and Augmented Reality. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. ACM, 3729--3740.
[18]
Luv Kohli. 2010. Redirected touching: Warping space to remap passive haptics. In 3D User Interfaces (3DUI), 2010 IEEE Symposium on. IEEE, 129--130.
[19]
Luv Kohli, Eric Burns, Dorian Miller, and Henry Fuchs. 2005. Combining passive haptics with redirected walking. In Proceedings of the 2005 international conference on Augmented tele-existence. ACM, 253--254.
[20]
Alexander Kron and Günther Schmidt. 2003. Multi-fingered tactile feedback from virtual and remote environments. In Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on. IEEE, 16--23.
[21]
Owlchemy Labs. 2016. Job Simulator. Game {HTC Vive}. (5 April 2016). Owlchemy Labs.
[22]
Anatole Lécuyer. 2009. Simulating haptic feedback using vision: A survey of research and applications of pseudo-haptic feedback. Presence: Teleoperators and Virtual Environments 18, 1 (2009), 39--53.
[23]
Anatole Lécuyer, J-M Burkhardt, Sabine Coquillart, and Philippe Coiffet. 2001. " Boundary of illusion": an experiment of sensory integration with a pseudo-haptic system. In Virtual Reality, 2001. Proceedings. IEEE. IEEE, 115--122.
[24]
Anatole Lécuyer, Jean-Marie Burkhardt, and Laurent Etienne. 2004. Feeling bumps and holes without a haptic interface: the perception of pseudo-haptic textures. In Proceedings of the SIGCHI conference on Human factors in computing systems. ACM, 239--246.
[25]
Anatole Lécuyer, Jean-Marie Burkhardt, and Chee-Hian Tan. 2008. A study of the modification of the speed and size of the cursor for simulating pseudo-haptic bumps and holes. ACM Transactions on Applied Perception (TAP) 5, 3 (2008), 14.
[26]
Anatole Lecuyer, Sabine Coquillart, Abderrahmane Kheddar, Paul Richard, and Philippe Coiffet. 2000. Pseudo-haptic feedback: Can isometric input devices simulate force feedback?. In Virtual Reality, 2000. Proceedings. IEEE. IEEE, 83--90.
[27]
JJ-W Lin, Henry Been-Lirn Duh, Donald E Parker, Habib Abi-Rached, and Thomas A Furness. 2002. Effects of field of view on presence, enjoyment, memory, and simulator sickness in a virtual environment. In Virtual Reality, 2002. Proceedings. IEEE. IEEE, 164--171.
[28]
Robert W Lindeman, Yasuyuki Yanagida, Haruo Noma, and Kenichi Hosaka. 2006. Wearable vibrotactile systems for virtual contact and information display. Virtual Reality 9, 2--3 (2006), 203--213.
[29]
Pedro Lopes and Patrick Baudisch. 2013. Muscle-propelled force feedback: bringing force feedback to mobile devices. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. ACM, 2577--2580.
[30]
Pedro Lopes, Alexandra Ion, and Patrick Baudisch. 2015. Impacto: Simulating physical impact by combining tactile stimulation with electrical muscle stimulation. In Proceedings of the 28th Annual ACM Symposium on User Interface Software & Technology. ACM, 11--19.
[31]
Pedro Lopes, Sijing You, Lung-Pan Cheng, Sebastian Marwecki, and Patrick Baudisch. 2017. Providing Haptics to Walls & Heavy Objects in Virtual Reality by Means of Electrical Muscle Stimulation. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. ACM, 1471--1482.
[32]
William A McNeely. 1993. Robotic graphics: A new approach to force feedback for virtual reality. In Virtual Reality Annual International Symposium, 1993., 1993 IEEE. IEEE, 336--341.
[33]
Jun Murayama, Laroussi Bougrila, YanLin Luo, Katsuhito Akahane, Shoichi Hasegawa, Béat Hirsbrunner, and Makoto Sato. 2004. SPIDAR G&G: a two-handed haptic interface for bimanual VR interaction. In Proceedings of EuroHaptics, Vol. 2004. 138--146.
[34]
Allison M Okamura, Mark R Cutkosky, and Jack T Dennerlein. 2001. Reality-based models for vibration feedback in virtual environments. IEEE/ASME Transactions on Mechatronics 6, 3 (2001), 245--252.
[35]
Allison M Okamura, Jack T Dennerlein, and Robert D Howe. 1998. Vibration feedback models for virtual environments. In Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, Vol. 1. IEEE, 674--679.
[36]
Joel C Perry, Jacob Rosen, and Stephen Burns. 2007. Upper-limb powered exoskeleton design. IEEE/ASME transactions on mechatronics 12, 4 (2007), 408--417.
[37]
Max Pfeiffer, Tim Dünte, Stefan Schneegass, Florian Alt, and Michael Rohs. 2015. Cruise control for pedestrians: Controlling walking direction using electrical muscle stimulation. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems. ACM, 2505--2514.
[38]
V Popescu, Grigore Burdea, and Mourad Bouzit. 1999. Virtual reality simulation modeling for a haptic glove. In Computer Animation, 1999. Proceedings. IEEE, 195--200.
[39]
Andreas Pusch, Olivier Martin, and Sabine Coquillart. 2008. Hemp-hand-displacement-based pseudo-haptics: a study of a force field application. In 3D User Interfaces, 2008. 3DUI 2008. IEEE Symposium on. IEEE, 59--66.
[40]
Andreas Pusch, Olivier Martin, and Sabine Coquillart. 2009. HEMPhand-displacement-based pseudo-haptics: A study of a force field application and a behavioural analysis. International journal of human-computer studies 67, 3 (2009), 256--268.
[41]
Michael Rietzler, Florian Geiselhart, Jan Gugenheimer, and Enrico Rukzio. 2018. Breaking the Tracking: Enabling Weight Perception using Perceivable Tracking Offsets. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems (CHI '18). ACM, New York, NY, USA.
[42]
Michael Rietzler, Florian Geiselhart, and Enrico Rukzio. 2017. The Matrix Has You: Realizing Slow Motion in Full-body Virtual Reality. In Proceedings of the 23rd ACM Symposium on Virtual Reality Software and Technology (VRST '17). ACM, New York, NY, USA, Article 2, 10 pages.
[43]
Michael Rietzler, Katrin Plaumann, Taras Kränzle, Marcel Erath, Alexander Stahl, and Enrico Rukzio. 2017. VaiR: Simulating 3D Airflows in Virtual Reality. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. ACM, 5669--5677.
[44]
Maria V Sanchez-Vives and Mel Slater. 2005. From presence to consciousness through virtual reality. Nat Rev Neurosci 6, 4 (2005), 332--339.
[45]
Lior Shapira and Daniel Freedman. 2016. Reality Skins: Creating Immersive and Tactile Virtual Environments. In Mixed and Augmented Reality (ISMAR), 2016 IEEE International Symposium on. IEEE, 115--124.
[46]
Adalberto L Simeone, Eduardo Velloso, and Hans Gellersen. 2015. Substitutional reality: Using the physical environment to design virtual reality experiences. In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems. ACM, 3307--3316.
[47]
Timothy M Simon, Ross T Smith, and Bruce H Thomas. 2014. Wearable jamming mitten for virtual environment haptics. In Proceedings of the 2014 ACM International Symposium on Wearable Computers. ACM, 67--70.
[48]
Rajinder Sodhi, Ivan Poupyrev, Matthew Glisson, and Ali Israr. 2013. AIREAL: interactive tactile experiences in free air. ACM Transactions on Graphics (TOG) 32, 4 (2013), 134.
[49]
Mandayam A Srinivasan, Gerald Lee Beauregard, and David L Brock. 1996. The impact of visual information on the haptic perception of stiffness in virtual environments. In ASME Winter Annual Meeting, Vol. 58. 555--559.
[50]
Emi Tamaki, Takashi Miyaki, and Jun Rekimoto. 2011. PossessedHand: techniques for controlling human hands using electrical muscles stimuli. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. ACM, 543--552.
[51]
Dzmitry Tsetserukou, Katsunari Sato, and Susumu Tachi. 2010. ExoInterfaces: novel exosceleton haptic interfaces for virtual reality, augmented sport and rehabilitation. In Proceedings of the 1st Augmented Human International Conference. ACM, 1.
[52]
Bernhard Weber, Mikel Sagardia, Thomas Hulin, and Carsten Preusche. 2013. Visual, vibrotactile, and force feedback of collisions in virtual environments: effects on performance, mental workload and spatial orientation. In International Conference on Virtual, Augmented and Mixed Reality. Springer, 241--250.
[53]
Yasuyoshi Yokokohji, Yoshihiko Sugawara, Junji Kinoshita, and Tsuneo Yoshikawa. 2003. Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans. In Robotics Research. Springer, 499--512.

Cited By

View all
  • (2024)Enriching Industrial Training Experience in Virtual Reality with Pseudo-Haptics and Vibrotactile StimulationProceedings of the 30th ACM Symposium on Virtual Reality Software and Technology10.1145/3641825.3687728(1-11)Online publication date: 9-Oct-2024
  • (2024)SYNC-VR: Synchronizing Your Senses to Conquer Motion Sickness for Enriching In-Vehicle Virtual RealityProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642941(1-17)Online publication date: 11-May-2024
  • (2024)Experiencing Dynamic Weight Changes in Virtual Reality Through Pseudo-Haptics and Vibrotactile FeedbackProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642552(1-13)Online publication date: 11-May-2024
  • Show More Cited By

Index Terms

  1. Conveying the Perception of Kinesthetic Feedback in Virtual Reality using State-of-the-Art Hardware

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Conferences
    CHI '18: Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems
    April 2018
    8489 pages
    ISBN:9781450356206
    DOI:10.1145/3173574
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

    Sponsors

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 21 April 2018

    Permissions

    Request permissions for this article.

    Check for updates

    Author Tags

    1. kinesthetic feedback
    2. pseudo haptics
    3. virtual reality

    Qualifiers

    • Research-article

    Conference

    CHI '18
    Sponsor:

    Acceptance Rates

    CHI '18 Paper Acceptance Rate 666 of 2,590 submissions, 26%;
    Overall Acceptance Rate 6,199 of 26,314 submissions, 24%

    Upcoming Conference

    CHI 2025
    ACM CHI Conference on Human Factors in Computing Systems
    April 26 - May 1, 2025
    Yokohama , Japan

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • Downloads (Last 12 months)123
    • Downloads (Last 6 weeks)13
    Reflects downloads up to 17 Feb 2025

    Other Metrics

    Citations

    Cited By

    View all
    • (2024)Enriching Industrial Training Experience in Virtual Reality with Pseudo-Haptics and Vibrotactile StimulationProceedings of the 30th ACM Symposium on Virtual Reality Software and Technology10.1145/3641825.3687728(1-11)Online publication date: 9-Oct-2024
    • (2024)SYNC-VR: Synchronizing Your Senses to Conquer Motion Sickness for Enriching In-Vehicle Virtual RealityProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642941(1-17)Online publication date: 11-May-2024
    • (2024)Experiencing Dynamic Weight Changes in Virtual Reality Through Pseudo-Haptics and Vibrotactile FeedbackProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642552(1-13)Online publication date: 11-May-2024
    • (2024)Using the Visual Language of Comics to Alter Sensations in Augmented RealityProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642351(1-17)Online publication date: 11-May-2024
    • (2024)Kine-Appendage: Enhancing Freehand VR Interaction Through Transformations of Virtual AppendagesIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2022.323074630:7(3298-3313)Online publication date: Jul-2024
    • (2024)A Cost-Efficient FOC-controlled Haptic Knob for Industrial Robot Programming with Force Feedback2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)10.1109/INDIN58382.2024.10774429(1-7)Online publication date: 18-Aug-2024
    • (2024)Pseudo-Haptics Survey: Human-Computer Interaction in Extended Reality and TeleoperationIEEE Access10.1109/ACCESS.2024.340944912(80442-80467)Online publication date: 2024
    • (2024)The Interaction Fidelity Model: A Taxonomy to Communicate the Different Aspects of Fidelity in Virtual RealityInternational Journal of Human–Computer Interaction10.1080/10447318.2024.2400377(1-33)Online publication date: 2-Oct-2024
    • (2024)Enhancing weight perception in virtual reality: an analysis of kinematic featuresVirtual Reality10.1007/s10055-024-00948-728:2Online publication date: 8-Mar-2024
    • (2024)Wings of Imagination: Strengthening Avian Embodiment and Flight Immersion in Virtual Reality Through Multisensory Haptic FeedbackDistributed, Ambient and Pervasive Interactions10.1007/978-3-031-60012-8_26(411-432)Online publication date: 29-Jun-2024
    • Show More Cited By

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media