Immersive Multimodal Interactive Presence

256 Pages·2012·10.492 MB·English

by  Christos D. Giachritsis, Angelika Peer (auth.), Angelika Peer, Christos D. Giachritsis (eds.)

Immersive Multimodal Interactive Presence
Springer Series on Touch and Haptic Systems
SeriesEditors
ManuelFerre
MarcO.Ernst
AlanWing
SeriesEditorialBoard
CarloA.Avizzano
JoséM.Azorín
SoledadBallesteros
MassimoBergamasco
AntonioBicchi
MartinBuss
JanvanErp
MatthiasHarders
WilliamS.Harwin
VincentHayward
JuanM.Ibarra
AstridKappers
AbderrahmaneKheddar
MiguelA.Otaduy
AngelikaPeer
JeromePerret
Jean-LouisThonnard
Forfurthervolumes:
www.springer.com/series/8786
Angelika Peer (cid:2) Christos D. Giachritsis
Editors
Immersive
Multimodal
Interactive Presence
Editors
AngelikaPeer ChristosD.Giachritsis
InstituteofAutomaticControlEngineering ResearchandDevelopment
TechnischeUniversitätMünchen BMTGroupLtd.
Munich,Germany Teddington,UK
ISSN2192-2977 e-ISSN2192-2985
SpringerSeriesonTouchandHapticSystems
ISBN978-1-4471-2753-6 e-ISBN978-1-4471-2754-3
DOI10.1007/978-1-4471-2754-3
SpringerLondonDordrechtHeidelbergNewYork
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Series Editors’ Foreword
This is the fourth volume of the “Springer Series on Touch and Haptic Systems”,
whichispublishedincollaborationbetweenSpringerandtheEuroHapticsSoci-
ety. Immersive Multimodal Interactive Presence is focused on exploring how the
haptic component increases multimodal human interactions. Three paradigms of
humaninteractionareconsidered:apersonmanipulatingavirtualobject,twopeo-
pledirectlyinteracting,andtwopeopleinteractingbyusingasharedobject.These
studieswerecarriedoutunderanIntegratedProjectcalledImmersence,whichwas
funded by the 6th Framework Program of the European Union. These kinds of
projectsusuallygeneratealotofconferenceandjournalpapersand,normally,this
knowledge is disseminated without the opportunity of compiling the information
properly.
TheeditorshavegonetoconsiderablelengthsinImmersiveMultimodalInterac-
tivePresencetocompilethemostrelevantresultsandorganizetheminacompre-
hensivemanner.Moreover,twoadditionalchaptershavebeenincludedinorderto
bringintwofurtherimportantissuesrelatedtoImmersence.
Theserieseditorsareconfidentintheinterestthatthispublicationwillcreateand
wouldliketoinviteotherconsortiumsworkingonhapticstopreparesimilarpubli-
cations. These books provide an excellent opportunity to overview the developing
state of the art that other researchers will find invaluable as groundwork for their
ownfuturestudiesinthisimportantresearcharea.
ManuelFerre
MarcErnst
AlanWing
v
Preface
Theadditionofhapticfeedbacktovirtualenvironmentshasenhancedusers’virtual
experiencedramatically.Ithasenableduserstoexperiencephysicalcharacteristics
ofobjectssuchasweight,temperature,roughnessandcompliance,whichwasprevi-
ouslyimpossiblewithonlyvisualandauditoryfeedback.Moreover,hapticfeedback
has the potential of greatly enhancing the experience of social interactions within
virtualenvironments.
This book summarizes results achievedin the IMMERSENCE research project
fundedbythe6thFrameworkProgrammeoftheEuropeanUnion,FET—Presence
Initiative.Inaddition,itincludesselectedchaptersofotherresearchersinthefield
whowerenotpartoftheImmersenceconsortium.Differentaspectsofhapticinter-
actionareexploredbasedonthreedifferentscenarios:Person-Object(PO),Person-
Object-Person (POP) and Person-Person (PP) interaction. While the PO scenario
focuses on multimodal information processing, manipulative aspects of haptic in-
teraction, and subliminal perception, the POP scenario explores examples of joint
actioninvirtualenvironments,suchascollaborativelifting.Finally,thePPscenario
usesparadigmsofhandshakinganddancingtoinvestigatedirectcontactbetweena
humanandanagentlocatedinvirtualreality.
Thebookisanexampleofinterdisciplinaryresearchdirectedtowardstherealiza-
tionofmultimodalimmersivevirtualenvironmentswithparticularfocusonhaptic
interaction. Recent results of psychophysical and behavioral studies are reported
along with new technological developments for haptic displays and novel haptic
renderingtechniques.
Thebookisorganizedintwoparts:I.PsychophysicalandBehavioralBasisand
II.TechnologyandRendering.ChaptersinpartIreportstudiesinvestigatingimpor-
tantaspectsofindividualandcollaborativeobjectmanipulation.Studiesexploring
thePOscenarioinvestigateconditionsaffectingtactilesensitivityduringmanipula-
tion.Otherstudiesevaluatetheeffectivenessofmultipointcontacthapticinterfaces
insimulatingweightduringunimanualandbimanualmanipulationofvirtualobjects
andexaminetheroleofgripforcesandcutaneousfeedbackonweightperception.
Studiesonmultisensoryenhancement,emotionalfactorsandsubliminalcuesonper-
formanceinvirtualenvironmentsarealsoreported.ThePOPstudiesarefocusingon
vii
viii Preface
experimentsinvestigatinghuman-humanandhuman-robotcollaborativeliftingand
suggestcontrolalgorithmsdescribingthistypeofcollaborativebehaviour.Thepart
alsoincludesachapteronissuesrelatedtotheuseofpsychologicalexperimentsto
evaluateartificialhapticinteractionpartners.
PartIIreportsonadvancedrenderingtechniquesfordata-drivenvisuo-hapticren-
deringofdeformablesobjects,hapticrenderingformultiplecontactpoints,aswell
astherenderingofcutaneouscuesforthePOscenario.ForthePPscenariorender-
ing of social haptic interaction partners is investigated and a new MR compatible
sensinggloveto analyzedyadicinteractionsusingfMRI is developed.Finally,the
realization of advanced human-computer collaboration schemes involving haptic
roleexchangeandnegotiationmechanismsareinvestigatedforthePOPscenario.
Althoughthetwopartsofthebookarevirtuallyseparated,theyarenotinprac-
tice:bothofthembenefitfromeachotherandmanyoverlappingsbetweenthetwo
partsexist.Noveldevicesandrenderingtechniquescannotbedevelopedwithoutthe
knowledgeofpsychophysicalandbehavioralfindings,whilenewexperimentscan-
not be performed without sophisticated devices and rendering techniques. Conse-
quently,thetwopartsarehighlycomplementaryandmanyofthesynergiesbetween
themarehighlightedinthesinglechapters.
Finally,wewouldliketothankalltheauthorsfortheirvaluablecontributionto
thisbook.
Germany AngelikaPeer
UK ChristosD.Giachritsis
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
ChristosD.GiachritsisandAngelikaPeer
PartI PsychophysicalandBehavioralBasis
2 ActiveMovementReducestheTactileDiscrimination
Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
MarcoP.Vitello,MichaelFritschi,andMarcO.Ernst
3 WeightPerceptionwithRealandVirtualWeightsUsingUnimanual
andBimanualPrecisionGrip . . . . . . . . . . . . . . . . . . . . . . 35
ChristosD.GiachritsisandAlanM.Wing
4 The Image of Touch: Construction of Meaning and Task
PerformanceinVirtualEnvironments . . . . . . . . . . . . . . . . . 51
MiriamReiner
5 PsychologicalExperimentsinHapticCollaborationResearch . . . . 65
RaphaelaGroten,DanielaFeth,AngelikaPeer,andMartinBuss
6 Human-RobotAdaptiveControlofObject-OrientedAction . . . . . 91
SatoshiEndo,PaulEvrard,AbderrahmaneKheddar,andAlanM.Wing
7 CooperativePhysicalHuman-HumanandHuman-Robot
Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
KyleB.Reed
PartII TechnologyandRendering
8 Data-DrivenVisuo-HapticRenderingofDeformableBodies . . . . . 131
MatthiasHarders,RaphaelHoever,SergePfeifer,andThibautWeise
9 HapticRenderingMethodsforMultipleContactPoints . . . . . . . 157
ManuelFerre,PabloCerrada,JorgeBarrio,andRaulWirz
ix
x Contents
10 ArtificiallyRenderedCutaneousCuesforaNewGeneration
ofHapticDisplays . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Enzo Pasquale Scilingo, Matteo Bianchi, Nicola Vanello,
ValentinaHartwig,LuigiLandini,andAntonioBicchi
11 SocialHapticInteractionwithVirtualCharacters. . . . . . . . . . . 189
ZhengWang,JensHölldampf,AngelikaPeer,andMartinBuss
12 FMRICompatibleSensingGloveforHandGestureMonitoring . . . 215
NicolaVanello,ValentinaHartwig,EnzoPasqualeScilingo,Daniela
Bonino,EmilianoRicciardi,AlessandroTognetti,PietroPietrini,Danilo
DeRossi,LuigiLandini,andAntonioBicchi
13 ImprovingHuman-ComputerCooperationThroughHapticRole
ExchangeandNegotiation . . . . . . . . . . . . . . . . . . . . . . . . 229
Ayse Kucukyilmaz, Salih Ozgur Oguz, Tevfik Metin Sezgin, and
CagatayBasdogan
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Contributors
Jorge Barrio Centre for Automation and Robotics UPM-CSIC, Universidad Po-
litecnicadeMadrid,Madrid,Spain
CagatayBasdogan KocUniversity,Istanbul,Turkey
Matteo Bianchi Interdepartmental Research Center “E. Piaggio”, University of
Pisa,Pisa,Italy
Antonio Bicchi Interdepartmental Research Center “E. Piaggio”, University of
Pisa,Pisa,Italy
DanielaBonino LaboratoryofClinicalBiochemistryandMolecularBiology,Uni-
versityofPisaMedicalSchool,Pisa,Italy
Martin Buss Institute of Automatic Control Engineering, Technische Universität
München, München, Germany; Institute of Automatic Control Engineering, Tech-
nischeUniversitätMünchen,Munich,Germany
PabloCerrada CentreforAutomationandRoboticsUPM-CSIC,UniversidadPo-
litecnicadeMadrid,Madrid,Spain
Danilo De Rossi Interdepartmental Research Center “E. Piaggio”, University of
Pisa,Pisa,Italy
Satoshi Endo Behavioural Brain Sciences Centre, University of Birmingham,
Birmingham,UK
Marc O. Ernst Department of Cognitive Neuroscience, University of Bielefeld,
Bielefeld,Germany
PaulEvrard Laboratoired’IntégrationdesSystémesetdesTechnologies(LIST),
Commissariat à l’énergie atomique et aux énergies alternatives (CEA), Fontenay-
aux-Roses,France
ManuelFerre CentreforAutomationandRoboticsUPM-CSIC,UniversidadPo-
litecnicadeMadrid,Madrid,Spain
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