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Contribution to the Study of Usability and Haptic Feedback of Encountered-Type Haptic Displays

Abstract : Encountered-Type Haptic Displays (ETHDs) are robotic devices that follow the users' hand and locate themselves in an encountered position when users want to touch objects in immersive virtual reality (VR). Despite these advantages, several challenges are yet to be solved in matters of usability and haptic feedback. This thesis presents a series of contributions to leverage ETHDs through research axes for both usability and haptic feedback.The first contribution in the usability axis studied the design of safety techniques for ETHDs based on visual feedback. Then, a series of interaction techniques for surface exploration with ETHDs is presented. These techniques explored several combinations of factors related to ETHD control to give users the sensation of touching a large surface in VR.Concerning the haptic feedback axis, we introduce an approach for large, multi-textured surface rendering. This approach is based on a rotating, multi-textured, cylindrical prop attached to an ETHD's end-effector. Finally, the thesis presents a contribution to object manipulation in VR using a detachable tangible object and an ETHD. This contribution permits creating, destroying and reconfiguring tangible objects in immersive virtual environments.
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Submitted on : Tuesday, September 27, 2022 - 3:46:42 PM
Last modification on : Tuesday, October 25, 2022 - 4:17:20 PM


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  • HAL Id : tel-03789676, version 1



Victor Rodrigo Mercado Garcia. Contribution to the Study of Usability and Haptic Feedback of Encountered-Type Haptic Displays. Graphics [cs.GR]. INSA de Rennes, 2021. English. ⟨NNT : 2021ISAR0015⟩. ⟨tel-03789676⟩



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