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C.T. Reinprecht
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Virtual Reality (VR) training has gained popularity in
recent years due to its versatility and safety in applications
such as industrial education and rehabilitation. The addition
of haptic information [1] during VR training, e.g., on the
physical properties of a virtual object like mass and inertial
forces, has been shown to enhance motor learning [2] and
increase movement economy and precision [3]. However,
rendering these dynamic forces remains a challenge, par-
ticularly for ungrounded haptic devices. While ungrounded
devices allow for a large free workspace, they often face
limitations such as high cost, latency, and side effects through
noise, vibrations, or airflow [4]. To address these limitations,
we present the first design and evaluation of LeVR, a low-
cost, portable haptic proxy (see Fig. 1). LeVR aims to provide
information about virtual objects’ weight by rendering the
vertical forces experienced when lifting objects. It achieves
this by dynamically accelerating a motorized sled along a
linear rail upon interaction with the virtual object, allowing
users to perceive differences in object weight through a
simple and portable design. ...
recent years due to its versatility and safety in applications
such as industrial education and rehabilitation. The addition
of haptic information [1] during VR training, e.g., on the
physical properties of a virtual object like mass and inertial
forces, has been shown to enhance motor learning [2] and
increase movement economy and precision [3]. However,
rendering these dynamic forces remains a challenge, par-
ticularly for ungrounded haptic devices. While ungrounded
devices allow for a large free workspace, they often face
limitations such as high cost, latency, and side effects through
noise, vibrations, or airflow [4]. To address these limitations,
we present the first design and evaluation of LeVR, a low-
cost, portable haptic proxy (see Fig. 1). LeVR aims to provide
information about virtual objects’ weight by rendering the
vertical forces experienced when lifting objects. It achieves
this by dynamically accelerating a motorized sled along a
linear rail upon interaction with the virtual object, allowing
users to perceive differences in object weight through a
simple and portable design. ...
Virtual Reality (VR) training has gained popularity in
recent years due to its versatility and safety in applications
such as industrial education and rehabilitation. The addition
of haptic information [1] during VR training, e.g., on the
physical properties of a virtual object like mass and inertial
forces, has been shown to enhance motor learning [2] and
increase movement economy and precision [3]. However,
rendering these dynamic forces remains a challenge, par-
ticularly for ungrounded haptic devices. While ungrounded
devices allow for a large free workspace, they often face
limitations such as high cost, latency, and side effects through
noise, vibrations, or airflow [4]. To address these limitations,
we present the first design and evaluation of LeVR, a low-
cost, portable haptic proxy (see Fig. 1). LeVR aims to provide
information about virtual objects’ weight by rendering the
vertical forces experienced when lifting objects. It achieves
this by dynamically accelerating a motorized sled along a
linear rail upon interaction with the virtual object, allowing
users to perceive differences in object weight through a
simple and portable design.
recent years due to its versatility and safety in applications
such as industrial education and rehabilitation. The addition
of haptic information [1] during VR training, e.g., on the
physical properties of a virtual object like mass and inertial
forces, has been shown to enhance motor learning [2] and
increase movement economy and precision [3]. However,
rendering these dynamic forces remains a challenge, par-
ticularly for ungrounded haptic devices. While ungrounded
devices allow for a large free workspace, they often face
limitations such as high cost, latency, and side effects through
noise, vibrations, or airflow [4]. To address these limitations,
we present the first design and evaluation of LeVR, a low-
cost, portable haptic proxy (see Fig. 1). LeVR aims to provide
information about virtual objects’ weight by rendering the
vertical forces experienced when lifting objects. It achieves
this by dynamically accelerating a motorized sled along a
linear rail upon interaction with the virtual object, allowing
users to perceive differences in object weight through a
simple and portable design.
Recent research suggests that haptic feedback—the use of physical stimuli to simulate tactile experiences—plays a crucial role in simulations in virtual reality (VR), as it can enhance immersion and facilitate motor learning. Unlike real-world objects, virtual objects lack the property of mass, necessitating its simulation through haptic devices to convey a realistic sense of weight. However, rendering weight remains a challenge, particularly for ungrounded haptic devices, which maintain a free range of motion but often face limitations such as high latency, side effects through noise, vibrations, and airflow, or the need for expensive equipment. In this work, we present LeVR, a low-cost, portable haptic proxy that simulates weight by rendering the vertical forces experienced when lifting objects—within the system’s constraints—by leveraging the force generated by an accelerated mass. The system comprises a linear rail and a capstan drive mechanism and ncorporates an impedance-based control scheme. We characterized the system’s response through step and frequency analyses. Results show that LeVR can produce a force output within a latency of 2.5 ms and render forces at frequencies ranging from 1 to 11 Hz. Furthermore, we conducted a pilot user study in which participants sorted five virtual objects by weight, ranging from 17 g to 227 g, solely based on the stimuli produced by our prototype. The results indicate that participants could generally distinguish between different stimuli, though limitations such as force instability, oscillations, and fatigue affected sorting accuracy. With our proposed system we aim to contribute to research on weight perception, to ultimately increase the effectiveness of skill acquisition and motor learning in VR.
...
Recent research suggests that haptic feedback—the use of physical stimuli to simulate tactile experiences—plays a crucial role in simulations in virtual reality (VR), as it can enhance immersion and facilitate motor learning. Unlike real-world objects, virtual objects lack the property of mass, necessitating its simulation through haptic devices to convey a realistic sense of weight. However, rendering weight remains a challenge, particularly for ungrounded haptic devices, which maintain a free range of motion but often face limitations such as high latency, side effects through noise, vibrations, and airflow, or the need for expensive equipment. In this work, we present LeVR, a low-cost, portable haptic proxy that simulates weight by rendering the vertical forces experienced when lifting objects—within the system’s constraints—by leveraging the force generated by an accelerated mass. The system comprises a linear rail and a capstan drive mechanism and ncorporates an impedance-based control scheme. We characterized the system’s response through step and frequency analyses. Results show that LeVR can produce a force output within a latency of 2.5 ms and render forces at frequencies ranging from 1 to 11 Hz. Furthermore, we conducted a pilot user study in which participants sorted five virtual objects by weight, ranging from 17 g to 227 g, solely based on the stimuli produced by our prototype. The results indicate that participants could generally distinguish between different stimuli, though limitations such as force instability, oscillations, and fatigue affected sorting accuracy. With our proposed system we aim to contribute to research on weight perception, to ultimately increase the effectiveness of skill acquisition and motor learning in VR.