2A2-M05 Study on Telexistence LXXVII : Haptic transfer system using virtual body in real world(Virtual/Augmented Reality and Interfaces)

Abstract

In this paper, we present a method to calculate touch forces in a remote place using low-cost depth camera and present those forces to the user in real-time. Using depth camera's captured data, a 3D virtual scene surface representation is constructed from the remote point of view and used to calculate pushing and stroking forces during user fingers movement. The algorithm computes force vectors for each desired point using point's motion vector and calculating god-points against the scene surface. By using such a method, it is possible to avoid using complex articulated arms and hands in the remote side to measure haptic forces at fingers end points. We show here the process of capturing and constructing the environment, and the method of calculating the interaction forces using depth data. Also we suggest using superimposed virtual hands for natural interaction with the remote environment.