research-article

CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR

Authors:

Elodie Bouzbib,

Pascal FreyAuthors Info & Claims

UIST '20: Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology

Pages 209 - 222

https://doi.org/10.1145/3379337.3415891

Published: 20 October 2020 Publication History

Abstract

We present CoVR, a novel robotic interface providing strong kinesthetic feedback (100 N) in a room-scale VR arena. It consists of a physical column mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of (1) resisting to body-scaled users' actions such as pushing or leaning; (2) acting on the users by pulling or transporting them as well as (3) carrying multiple potentially heavy objects (up to 80kg) that users can freely manipulate or make interact with each other. We describe its implementation and define a trajectory generation algorithm based on a novel user intention model to support non-deterministic scenarios, where the users are free to interact with any virtual object of interest with no regards to the scenarios' progress. A technical evaluation and a user study demonstrate the feasibility and usability of CoVR, as well as the relevance of whole-body interactions involving strong forces, such as being pulled through or transported.

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Index Terms

CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR

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cover image ACM Conferences

UIST '20: Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology

October 2020

1297 pages

ISBN:9781450375146

DOI:10.1145/3379337

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Shamsi Iqbal
Microsoft Research, USA
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Karon MacLean
University of British Columbia, Canada
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Fanny Chevalier
University of Toronto, Canada
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MIT CSAIL, USA

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Published: 20 October 2020

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UIST '20

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UIST '20: The 33rd Annual ACM Symposium on User Interface Software and Technology

October 20 - 23, 2020

Virtual Event, USA

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Overall Acceptance Rate 561 of 2,567 submissions, 22%

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Gomi RSuzuki RTakashima KFujita KKitamura Y(2024)InflatableBots: Inflatable Shape-Changing Mobile Robots for Large-Scale Encountered-Type Haptics in VRProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642069(1-14)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642069
Hoshikawa YFujita KTakashima KFjeld MKitamura Y(2024)RedirectedDoors+: Door-Opening Redirection with Dynamic Haptics in Room-Scale VRIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2024.337210530:5(2276-2286)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1109/TVCG.2024.3372105
Dongye XWeng DJiang HFeng L(2023)A Modular Haptic Agent System with Encountered-Type Active InteractionElectronics10.3390/electronics1209206912:9(2069)Online publication date: 30-Apr-2023
https://doi.org/10.3390/electronics12092069
Gomi RTakashima KOnishi YFujita KKitamura Y(2023)UbiSurface: A Robotic Touch Surface for Supporting Mid-air Planar Interactions in Room-Scale VRProceedings of the ACM on Human-Computer Interaction10.1145/36264797:ISS(376-397)Online publication date: 1-Nov-2023
https://dl.acm.org/doi/10.1145/3626479
Mortezapoor SVasylevska KVonach EKaufmann H(2023)CoboDeck: A Large-Scale Haptic VR System Using a Collaborative Mobile Robot2023 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR55154.2023.00045(297-307)Online publication date: Mar-2023
https://doi.org/10.1109/VR55154.2023.00045
Bouzbib EPacchierotti CLécuyer A(2023)When Tangibles Become Deformable: Studying Pseudo-Stiffness Perceptual Thresholds in a VR Grasping TaskIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.324708329:5(2743-2752)Online publication date: 1-May-2023
https://dl.acm.org/doi/10.1109/TVCG.2023.3247083
Zhang LLiu YBai HZou QChang ZHe WWang SBillinghurst M(2023)Robot-enabled tangible virtual assembly with coordinated midair object placementRobotics and Computer-Integrated Manufacturing10.1016/j.rcim.2022.10243479:COnline publication date: 1-Feb-2023
https://dl.acm.org/doi/10.1016/j.rcim.2022.102434
Fujita KTakashima KItoh YKitamura Y(2023)Human-Workspace Interaction: prior research efforts and future challenges for supporting knowledge workersQuality and User Experience10.1007/s41233-023-00060-98:1Online publication date: 18-Aug-2023
https://doi.org/10.1007/s41233-023-00060-9
Mendez S. LNg HLim ZLu YHan P(2022)MovableBag: Substitutional Robot for Enhancing Immersive Boxing Training with Encountered-Type HapticSIGGRAPH Asia 2022 XR10.1145/3550472.3558406(1-2)Online publication date: 24-Nov-2022
https://dl.acm.org/doi/10.1145/3550472.3558406
Hoshikawa YFujita KTakashima KFjeld MKitamura Y(2022)RedirectedDoors: Redirection While Opening Doors in Virtual Reality2022 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)10.1109/VR51125.2022.00066(464-473)Online publication date: Mar-2022
https://doi.org/10.1109/VR51125.2022.00066
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