Multi-modal VR Systems
This chapter presents novel multi-modal and integrated systems developed in the laboratories of the Institute of Automatic Control Engineering, Technische Universität München. First, kinesthetic, tactile, visual and acoustic hardware used for multi-modal
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Technische Universit¨ at M¨ unchen Institute of Automatic Control Engineering [email protected], [email protected], [email protected] Max Planck Institute for Biological Cybernetics Spemannstrasse 38, D-72076 T¨ ubingen, Germany [email protected]
Summary. This chapter presents novel multi-modal and integrated systems developed in the laboratories of the Institute of Automatic Control Engineering, Technische Universit¨ at M¨ unchen. First, kinesthetic, tactile, visual and acoustic hardware used for multi-modal systems are introduced individually. Then the integration of the hardware into multi-modal VR systems and chosen applications are explained. The kinesthetictactile integrated systems are evaluated. The objective of the evaluations has been the study of the psychophysical correlation between the tactile and the kinesthetic portion of haptic information.
8.1 Introduction A multi-modal virtual reality (VR) system stimulates at least two or more elements of the human sensory system. In other words a VR that contains any combination of visual, acoustic, haptic, olfactory and gustatory modalities is multi-modal. The last two modalities are out of concern in this work. Although initial VR systems provided only visual and acoustic feedback to the user in the last two decades, there have been several works that make the extension of virtual environments with haptic feedback possible. As a result, more realistic VEs are developed that lead to a better immersion of users into the VR system. This result also broadened the application areas of VEs for training systems from writing Japanese characters to complicated surgical procedures, such as minimally invasive surgery (MIS). For example Tendick et al. [35] has developed a VE for training laparoscopic surgical skills. This work was later on extended for telesurgery [8]. K¨ uhnapfel created the 3D graphical simulation program KISMET in 1991 [25]. Using KISMET, K¨ uhnapfel et al. developed a virtual reality endoscopic training simulator including deformable tissue simulation [23]. Later on the simulator was further developed by putting the attention of elastodynamically deformable tissue models and adding the pulse palpation feature with a force feedback device [24]. Basdogan et al. developed a similar surgical training concept in a VE [6]. One of the recent works belong to Papadopoulos et al. and concerns an urological operation training simulator [28]. Although almost all of the above mentioned works contain the word ”training system” in their A. Bicchi et al.(Eds.): The Sense of Touch and Its Rendering, STAR 45, pp. 179–206, 2008. c Springer-Verlag Berlin Heidelberg 2008 springerlink.com
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M. Fritschi et al.
title, only Tendick et al. [35] present a detailed investigation about the components of surgical skills and training appropriate to these skills. Another eminent application domain is virtual prototyping. In the automobile industry physical mock-ups constructed for the evaluation of product designs are increasingly often replaced by digital computer
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