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Dangxiao Wang , Beihang University, Beijing
Yuru Zhang , Beihang University, Beijing
Wanlin Zhou , Beihang University, Beijing
Hui Zhao , Beihang University, Beijing
Zhongyuan Chen , Beihang University, Beijing
ABSTRACT
Human resolution of collocation error between haptic and stereoscopic displays influences the design of visuo-haptic rendering algorithms, yet it is not well characterized. In the present study, we propose quantified metrics to measure the visuo-haptic collocation error and a prototype based on half-silvered mirror is established to validate the metrics. After defining collocation error in terms of the spatial correspondence between a tool and a surface, a mathematical model is derived that relate collocation error to the visual and haptic rendering modules within the computational pipeline. A calibration method consisting of Perspective Calibration (PC) and Model Calibration (MC) is then proposed to compensate for manufacturing and assembly tolerances. Based on measurement values by a precise measurement apparatus, i.e. the FARO Arm, parameters for the PC and MC were determined. System performance is evaluated by measuring the collocation error between a real handle and its visual avatar. The average collocation error was 1.8mm within the XwYwOw plane, and the error never exceeded 7mm within an 80?80?80mm workspace.
INDEX TERMS
Hardware and software that enable touch-based interactions with real, remote, and virtual environments, Medical simulation, Multimodal systems, Graphic rendering
CITATION
Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration", IEEE Transactions on Haptics, , no. 1, pp. , PrePrints PrePrints, doi:10.1109/TOH.2011.37
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