Immersive Multimodal Interactive Presence PDF
Preview Immersive Multimodal Interactive Presence
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 BritishLibraryCataloguinginPublicationData AcataloguerecordforthisbookisavailablefromtheBritishLibrary LibraryofCongressControlNumber:2012933974 ©Springer-VerlagLondonLimited2012 Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,asper- mittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced, storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublish- ers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicensesissuedbythe CopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesentto thepublishers. Theuseofregisterednames,trademarks,etc.,inthispublicationdoesnotimply,evenintheabsenceofa specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree forgeneraluse. Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation containedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissions thatmaybemade. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) 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 xi
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