Abstract
Haptic augmented reality is a new paradigm in human—computer interaction. Akin to traditional visual augmented reality, the technique strives to combine real and virtual sensory stimuli to alter perception during object manipulation. In the context of soft tissue interaction the stimuli felt during contact and indentation of a deformable object are overlaid with forces generated with a haptic device. Such a combined rendering can provide a user with an altered percept of object properties and/or shape. This chapter first outlines the general concept of integrating haptics into augmented reality. Thereafter, we will introduce two heuristic algorithms for haptic augmentation—covering stiffness modulation at either one or two contact points. This will address topics of parameter estimation, contact detection and augmentation computation. Finally, an application example is given in the context of tissue palpation. A method for augmenting virtual stiffer inclusions in physical soft tissue samples is presented.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Bau O, Poupyrev I, Israr A, Harrison C (2010) Teslatouch: electrovibration for touch surfaces. In: Proceedings of the 23nd annual ACM symposium on user interface software and technology, UIST ’10, pp 283–292
Bayart B, Didier JY, Kheddar A (2008) Force feedback virtual painting on real objects: a paradigm of augmented reality haptics. Lect Notes Comput Sci (EuroHaptics 2008) 5024:776–785
Bayart B, Drif A, Kheddar A, Didier JY (2007) Visuo-haptic blending applied to a tele-touch-diagnosis application. Lect Notes Comput Sci (Eurohaptics 2007) 4563:617–626
Bayart B, Kheddar A (2006) Haptic augmented reality taxonomy: haptic enhancing and enhanced haptics. In: Proceedings of EuroHaptics, pp 641–644
Bennett E, Stevens B (2006) The effect that the visual and haptic problems associated with touching a projection augmented model have on object-presence. Presence: Teleoperators Virtual Environ 15(4):419–437
Bianchi G, Jung C, Knörlein B, Székely G, Harders M (2006a) High-fidelity visuo-haptic interaction with virtual objects in multi-modal AR systems. In: Proceedings of the IEEE and ACM international symposium on mixed and augmented reality, pp 187–196
Bianchi G, Knörlein B, Székely G, Harders M (2006b) High precision augmented reality haptics. In: Proceedings of EuroHaptics, pp 169–168
Billinghurst M, Kato H, Poupyrev I (2001) The magic book-moving seamlessly between reality and virtuality. IEEE Comput Graph Appl 21(3):6–8
Borst CW, Volz RA (2005) Evaluation of a haptic mixed reality system for interactions with a virtual control panel. Presence: Teleoperators Virtual Environ 14(6):677–696
Ha T, Chang Y, Woo W (2007) Usability test of immersion for augmented reality based product design. Lect Notes Comput Sci (Edutainment 2007) 4469:152–161
Haddadi A, Hashtrudi-Zaad K (2008) A new method for online parameter estimation of Hunt-Crossley environment dynamic models. In: Proceedings of the IEEE international conference on intelligent robots and systems, pp 981–986
Harders M, Bianchi G, Knörlein B, Székely G (2009) Calibration, registration, and synchronization for high precision augmented reality haptics. IEEE Trans Vis Comput Graph 15(1):138–149
Hunt K, Crossley F (1975) Coefficient of restitution interpreted as damping in vibroimpact. ASME J Appl Mech 42:440–445
Janabi-Sharifi F, Hayward V, Chen CSJ (2000) Discrete-time adaptive windowing for velocity estimation. IEEE Trans Control Syst Technol 8(6):1003–1009
Jeon S, Choi S (2008) Modulating real object stiffness for haptic augmented reality. Lect Notes Comput Sci (EuroHaptics 2008) 5024:609–618
Jeon S, Choi S (2009) Haptic augmented reality: taxonomy and an example of stiffness modulation. Presence: Teleoperators Virtual Environ 18(5):387–408
Jeon S, Choi S (2010) Stiffness modulation for haptic augmented reality: extension to 3D interaction. In: Proceedings of the haptics symposium, pp 273–280
Jeon S, Choi S (2011) Real stiffness augmentation for haptic augmented reality. Presence: Teleoperators Virtual Environ 20(4):337–370
Jeon S, Choi S, Harders M (2012) Rendering virtual tumors in real tissue mock-ups using haptic augmented reality. IEEE Trans Haptics 5(1):77–84
Jeon S, Harders M (2012) Extending haptic augmented reality: modulating stiffness during two-point squeezing. In: Proceedings of the haptics symposium, pp 141–146
Kajimoto H, Kawakami N, Tachi S, Inami M (2004) SmartTouch: electric skin to touch the untouchable. IEEE Comput Graph Appl 24(1):36–43
Kyung KU, Lee JY (2009) Ubi-Pen: a haptic interface with texture and vibrotactile display. IEEE Comput Graph Appl 29(1):24–32
Lee C, Adelstein BD, Choi S (2008) Haptic weather. In: Proceedings of the symposium on haptic interfaces for virtual environments and teleoperator systems, pp 473–474
Lee J, Choi S (2010) Effects of haptic guidance and disturbance on motor learning: potential advantage of haptic disturbance. In: Proceedings of the IEEE haptics symposium (HS), pp 335–342
Mahvash M, Okamura AM (2006) Friction compensation for a force-feedback telerobotic system. In: Proceedings of the IEEE international conference on robotics and automation, pp 3268–3273
Milgram P, Colquhoun H Jr (1999) A taxonomy of real and virtual world display integration. In: Tamura Y (ed) Mixed reality-merging real and virtual worlds. Springer, Berlin, pp 1–16
Nojima T, Sekiguchi D, Inami M, Tachi S (2002) The SmartTool: a system for augmented reality of haptics. In Proceedings of the IEEE virtual reality conference, pp 67–72
Ott R, Thalmann D, Vexo F (2007) Haptic feedback in mixed-reality environment. Vis Comput: Int J Comput Graph 23(9):843–849
Sandor C, Uchiyama S, Yamamoto H (2007) Visuo-haptic systems: half-mirrors considered harmful. In: Proceedings of the world haptics conference, pp 292–297
Scharver C, Evenhouse R, Johnson A, Leigh J (2004) Designing cranial implants in a haptic augmented reality environment. Commun ACM 47(8):32–38
Vallino JR, Brown CM (1999) Haptics in augmented reality. In: Proceedings of the IEEE international conference on multimedia computing and systems, pp 195–200
Visell Y, Law A, Cooperstock J (2009) Touch is everywhere: floor surfaces as ambient haptic interfaces. IEEE Trans Haptics 2(3):148–159
Yao H-Y, Hayward V, Ellis RE (2004) A tactile magnification instrument for minimally invasive surgery. Lect Notes Comput Sci (MICCAI) 3217:89–96
Ye G, Corso J, Hager G, Okamura A (2003) VisHap: augmented reality combining haptics and vision. In: Proceedings of the IEEE international conference on systems, man and cybernetics, pp 3425–3431
Acknowledgments
The described research has been supported in parts by Korean government programs, NRL R0A-2008-000-20087-0 from NRF and ITRC (NIPA-2011-)C1090-1111-0008 from NIPA, the Korean-Swiss Science and Technology Cooperation program 2010/2011, and the EU project BEAMING 248620.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag London
About this chapter
Cite this chapter
Jeon, S., Choi, S., Harders, M. (2014). Haptic Augmentation in Soft Tissue Interaction. In: Di Luca, M. (eds) Multisensory Softness. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-6533-0_12
Download citation
DOI: https://doi.org/10.1007/978-1-4471-6533-0_12
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-6532-3
Online ISBN: 978-1-4471-6533-0
eBook Packages: Computer ScienceComputer Science (R0)