Christoph W. Borst

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We investigate predictive coding for reducing the amount of data communicated between a haptic controller and a host. This allows increased update rate, which potentially improves quality even if coding is lossy. A low-order predictive coding is investigated for a pneumatic force display. Due to human and device characteristics, some compression is possible(More)
We present a new framework for information cue rendering on 2D vibrotactile arrays, and we describe an experiment that investigated the feasibility of our approach. The methods are broadly applicable, but our work is motivated by the potential for a tactile array to provide an additional useful channel for information such as location cues related to(More)
We present and evaluate a new approach for real-time rendering of composable 3D lenses for polygonal scenes. Such lenses, usually called ¿volumetric lenses,¿ are an extension of 2D Magic Lenses to 3D volumes in which effects are applied to scene elements. Although the composition of 2D lenses is well known, 3D composition was long considered infeasible due(More)
We present a haptic feedback technique that combines feedback from a portable force-feedback glove with feedback from direct contact with rigid passive objects. This approach is a haptic analogue of visual mixed reality, since it can be used to haptically combine real and virtual elements in a single display. We discuss device limitations that motivated(More)
We present the first experiment on tradeoffs involving visual interpenetration in whole-hand virtual grasping, with new findings that contrast prior interpenetration research and provide a stronger understanding of user behavior and beliefs. Most notably, preventing interpenetration reduced performance by increasing real hand closure and reducing release(More)
We address a “sticking object” problem for the release of whole-hand virtual grasps. The problem occurs when grasping techniques require fingers to be moved outside an object’s boundaries after a user’s (real) fingers interpenetrate virtual objects due to a lack of physical motion constraints. This may be especially distracting for grasp techniques that(More)
We investigate visual feedback for virtual grasps, especially cues to improve behavior after real fingers enter a virtual object. To date, such visual cues have usually been developed in an ad-hoc manner, with minimal or no studies that can guide selection. Existing guidelines are based largely on other interaction types and provide inconsistent and(More)