research-article

TORC: A Virtual Reality Controller for In-Hand High-Dexterity Finger Interaction

Authors:

Mar Gonzalez-Franco,

Christian HolzAuthors Info & Claims

CHI '19: Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems

Paper No.: 71, Pages 1 - 13

https://doi.org/10.1145/3290605.3300301

Published: 02 May 2019 Publication History

Abstract

Recent hand-held controllers have explored a variety of haptic feedback sensations for users in virtual reality by producing both kinesthetic and cutaneous feedback from virtual objects. These controllers are grounded to the user's hand and can only manipulate objects through arm and wrist motions, not using the dexterity of their fingers as they would in real life. In this paper, we present TORC, a rigid haptic controller that renders virtual object characteristics and behaviors such as texture and compliance. Users hold and squeeze TORC using their thumb and two fingers and interact with virtual objects by sliding their thumb on TORC's trackpad. During the interaction, vibrotactile motors produce sensations to each finger that represent the haptic feel of squeezing, shearing or turning an object. Our evaluation showed that using TORC, participants could manipulate virtual objects more precisely (e.g., position and rotate objects in 3D) than when using a conventional VR controller.

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Cited By

Liu TXiao YHu MSha HMa SGao BGuo SLiu YSong W(2025)AudioGest: Gesture-Based Interaction for Virtual Reality Using Audio DevicesIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2024.339786831:2(1569-1581)Online publication date: Feb-2025
https://doi.org/10.1109/TVCG.2024.3397868
Kim HHan HHyun K(2025)HAPshop: How Haptic Information Affects Consumers’ Purchase Intentions toward Online ProductsComputers in Human Behavior10.1016/j.chb.2025.108580(108580)Online publication date: Jan-2025
https://doi.org/10.1016/j.chb.2025.108580
Yu DDingler TVelloso EGoncalves J(2024)Object Selection and Manipulation in VR Headsets: Research Challenges, Solutions, and Success MeasurementsACM Computing Surveys10.1145/370641757:4(1-34)Online publication date: 30-Nov-2024
https://dl.acm.org/doi/10.1145/3706417
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Index Terms

TORC: A Virtual Reality Controller for In-Hand High-Dexterity Finger Interaction
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices
      1. Haptic devices
    2. Interaction paradigms
      1. Virtual reality
  2. Interaction design
    1. Empirical studies in interaction design

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cover image ACM Conferences

CHI '19: Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems

May 2019

9077 pages

ISBN:9781450359702

DOI:10.1145/3290605

General Chairs:
Stephen Brewster
University of Glasgow, Scotland, UK
,
Geraldine Fitzpatrick
TU Wien, Austria
,
Program Chairs:
Anna Cox
University College London, UK
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Vassilis Kostakos
University of Melbourne, Australia

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Published: 02 May 2019

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Cited By

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https://doi.org/10.1109/TVCG.2024.3397868
Kim HHan HHyun K(2025)HAPshop: How Haptic Information Affects Consumers’ Purchase Intentions toward Online ProductsComputers in Human Behavior10.1016/j.chb.2025.108580(108580)Online publication date: Jan-2025
https://doi.org/10.1016/j.chb.2025.108580
Yu DDingler TVelloso EGoncalves J(2024)Object Selection and Manipulation in VR Headsets: Research Challenges, Solutions, and Success MeasurementsACM Computing Surveys10.1145/370641757:4(1-34)Online publication date: 30-Nov-2024
https://dl.acm.org/doi/10.1145/3706417
Lystbæk MMikkelsen TKrisztandl RGonzalez EGonzalez-Franco MGellersen HPfeuffer K(2024)Hands-on, Hands-off: Gaze-Assisted Bimanual 3D InteractionProceedings of the 37th Annual ACM Symposium on User Interface Software and Technology10.1145/3654777.3676331(1-12)Online publication date: 13-Oct-2024
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Zhang YShi RLiang H(2024)Stick-To-XR: Understanding Stick-Based User Interface Design for Extended RealityProceedings of the 2024 ACM Designing Interactive Systems Conference10.1145/3643834.3661627(168-179)Online publication date: 1-Jul-2024
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Sung YKim RSong KShao YYoon S(2024)HapticPilotProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36314537:4(1-28)Online publication date: 12-Jan-2024
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Kim MOfek EPahud MSinclair MBianchi A(2024)Big or Small, It’s All in Your Head: Visuo-Haptic Illusion of Size-Change Using Finger-RepositioningProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642254(1-15)Online publication date: 11-May-2024
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Gomi RSuzuki RTakashima KFujita KKitamura Y(2024)InflatableBots: Inflatable Shape-Changing Mobile Robots for Large-Scale Encountered-Type Haptics in VRProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642069(1-14)Online publication date: 11-May-2024
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Jingu ASabnis NStrohmeier PSteimle J(2024)Shaping Compliance: Inducing Haptic Illusion of Compliance in Different Shapes with Electrotactile GrainsProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3641907(1-13)Online publication date: 11-May-2024
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Suga YMizoguchi IKajimoto H(2024)Presentation of Finger-size Shapes by Combining Force Feedback and Electro-tactile Stimulation2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00079(590-597)Online publication date: 16-Mar-2024
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