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ISSN: 1939-1412
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
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.
Hardware and software that enable touch-based interactions with real, remote, and virtual environments, Medical simulation, Multimodal systems, Graphic rendering

Z. Chen, W. Zhou, D. Wang, H. Zhao and Y. Zhang, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," in IEEE Transactions on Haptics.
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