Mechano-Media that Transmit Kinesthetic Knowledge from a Human to Other Humans

摘要

We have been developing a visual/haptic interface to virtual environments, called a WYSIWYF Display, which ensures spatially/temporally consistent visual/haptic sensation. Three key components are (ⅰ) vision-based tracking for correct visual/haptic registration (ⅱ) blending live video and computer graphics (CG) images by a chroma-keying technique, and (ⅲ) encountered-type haptic rendering that provides real free and real touch sensations. In this paper, the recent progress on the above key components are presented. First, accurate image overlay technique by using vision and accelerometers is shown. Then, a path planning for encountered-type haptic devices that render multiple virtual objects is presented. A virtual control panel of automobiles was developed to demonstrate the proposed path-planning algorithm. The developed visual/haptic interface system can be regarded as a kind of mechano-media, a new concept extending the framework of teleoperation, which transmit kinesthetic knowledge from a human to other humans.