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ViESTac: A Multimodal VR Evaluation Suite for Novel Tactile Devices

Banerjee, Premankur (2021) ViESTac: A Multimodal VR Evaluation Suite for Novel Tactile Devices. DLR-Interner Bericht. DLR-IB-RM-OP-2021-214. Master's. Technische Universität München. 104 S.

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Virtual Reality (VR) applications designed for the purpose of testing or evaluating tactile devices are strongly predisposed to the respective device display capabilities, and are developed across multiple software platforms. This thesis presents "ViESTac", a multimodal VR evaluation suite for evaluating and comparing novel tactile devices. To account for the wide variety of existing devices and their tactile capabilities and idiosyncrasies, an extensive literature review was conducted to determine the requirements for such a suite. ViESTac contains two virtual environments, one for simulating different tactile properties of virtual objects like stiffness, macro-roughness, fine-roughness, temperature, friction, and the other for supporting positioning accuracy in standard tasks in VR or teleoperation (such as pickand-place, peg-in-hole, etc). ViESTac also allows easy integration of tactile devices, and can support popular, unobtrusive hand tracking systems such as the Leap Motion controller. The potentiality of this VR suite has been exemplified through an evaluation study involving two tactile devices - FingerTac and FerroVibe - and thirteen participants. Tasks on discriminating contact point orientation, texture, stiffness were carried out in addition to object positioning. Results showed that participants could almost immaculately distinguish between the different conditions tested for the tactile properties, with little variance. Tactile guidance for positioning tasks was found to be moderately helpful as compared to the complexity of the tasks. Furthermore, both devices were compared on grounds of trajectory lengths, completion times and overall helpfulness. Collectively, these served as a testament to the working of ViESTac.

Item URL in elib:https://elib.dlr.de/147226/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:ViESTac: A Multimodal VR Evaluation Suite for Novel Tactile Devices
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Banerjee, PremankurUNSPECIFIEDhttps://orcid.org/0000-0002-0865-3634UNSPECIFIED
Date:December 2021
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:104
Keywords:Evaluation Suite, Tactile Devices, Benchmarking
Institution:Technische Universität München
Department:Lehrstuhl für Medientechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hulin, Dr. Thomas
Deposited On:10 Dec 2021 16:01
Last Modified:10 Dec 2021 16:01

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