Haptic Interaction System and Method for Remote Exploration

Remote Haptic Exploration System Using Base Vector-Based Reaction Force Interpolation

This technology is a haptic interaction system that allows users to explore remote objects through both sight and touch. A client’s camera and first haptic device transmit object imagery and contact force data to a server, while the server’s second haptic device returns position control signals based on user input.

Most virtual reality applications rely solely on sight and sound, lacking true realism. Even when haptic devices are connected to remote environments, the discrete nature of force data transmitted over networks often results in choppy or rough tactile feedback for the user.

This technology stores the difference between two haptic pointer positions at the moment of initial contact as a base vector. It then calculates a force scale based on the ratio to the current direction vector, interpolating received force values into continuous reaction forces. This allows for the smooth reproduction of an object's stiffness. Applicable to remote medical procedures, hazardous environment exploration, and teleoperated robotics, it enables users to realistically perceive object hardness without being physically present.

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Key Features:

• A client equipped with a camera to capture real-world object imagery and a first haptic device that detects contact force as the haptic pointer moves according to server position control signals
• A second haptic device that provides tactile feedback of object stiffness corresponding to the force values detected by the client when the user operates the haptic pointer and a collision occurs
• The length of the base vector, defined as the value obtained by subtracting the first haptic pointer position from the second haptic pointer position at the moment of initial collision
• Haptic rendering that calculates reaction force by multiplying the received force value by a force scale—derived by dividing the current direction vector length by the base vector length—and the normalized direction vector

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This invention was developed with support from the Ministry of Science and ICT for research into intelligent virtual suturing simulations that support the imitation of surgical movements.

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