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This paper presents a three-level tracker calibration system that greatly reduces errors in tracked position and orientation. The first level computes an error-minimizing rigid body transform that eliminates the need for precise alignment of a tracker base frame. The second corrects for field warp by interpolating correction values stored with vertices in a(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 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 investigate rendering methods for 2D tactile arrays. We present four rendering methods, two of which are anti-aliased methods to improve display quality and smoothness. We describe three experiments to evaluate the methods. The first experiment compares them based on subjective ratings and finds that anti-aliased methods improve perceived quality and(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 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 demonstrate a 30-element vibrotactile array that fits the palm of a large-handed user. The array is driven by input to a touchpad, thereby allowing one user to haptically " draw " on a remote user's hand. Pulse-width modulation is used to control tactor intensity, and the multiple intensity levels are used by an anti-aliasing procedure that allows the(More)