ABSTRACT
Haptics has been a major part of both future virtual reality experiences and every day consumer electronics.Wearable technology, since it is in contact with human skins, will be the most likely place to deploy these solutions. Haptics platform is a fast-evolving area and the virtual reality technologies has matured and is giving suitable assistance to robotic surgery and people who are handicapped. This paper reviews the general concept of virtual reality haptics, altogether with its applications, previous research findings, the challenge and its superiority for developing a virtual reality prototype/devices and integration of virtual reality concept with the bilateral control system platform. And lastly, potential upcoming works were discussed and suggestions will be put together for melioration of review findings.
Keywords:Virtual Reality, Sensory, Tactile, Haptics, Manipulation, ForceFeedback
INTRODUCTION
The word haptics originates from the Greek verb“haptesthai”which relates to the ability to touchand manipulate objects [1]. Subsequently the early part of twentieth century, haptics term has become common for the studies of active touch on real objects by humans [2].While active touch is referred to as bidirectional flow of energy and information between the real, virtual environmentand the human sensory modality. The interaction of objects or environment could be made by humans,machines or combination of both and; the object and environment scan be real, virtual, or combination of both too.With the technological advances, haptics feedback has been employed to transmute into some specialized tasks by providing an auxiliary sensory channel in addition toitsmainstream applications [3]. The interaction may be augmented by other sensory modalities such asvision and audio. The impact from this merge of sensory input and haptics have carried many different disciplines including biomechanics, psychology, neurophysiology, engineering, computer science, medical, agriculture and even aeronautics to review and analyse human touch and forcefeedback with the external environment. There are also some recent advances in haptics research that develop a system of contactless haptics feedback in 3D space as stated in [4],[5].Not with standing that technological and algorithm challenges, it appears to be inevitable to develop
heaps of haptical active devices for benefits of mankind. So far, the research efforts on particularised tasks in haptics have been dominated by surgical robotics and rehabilitation simulation[6],[7].Usually, the device enables the interface with virtual or physically vicinity. The action tasks are typically performed by hand in the real daily chores, such as manipulating objects and exploring their properties[8].
Haptics discipline are undeniably great, necessitates expertise in some sub-knowledges of engineering fields. In these days, haptics technology is classified within 3 basic types namely as Human Haptics, Machine Haptics and Virtual Augmented Reality Haptics. Human haptics is concerned about the study of human sensory perception and contact manipulation perceived bythe senses from external force [9]. Machine hapticsasshowninFigure1aremadeupofadesign,constructionanduseofmachinestoreplaceoraugment human touch and other forms of stimuliwherethegenericforcewillbemeasuredbysensorsthroughactuatorstosenseforce,dimensions or temperature [10]. The next one willbe virtual reality haptics. Basically, Virtual Realityis 3D image or a setting produced by computer thatcan act reciprocally by using special equipment inseemingly real or physical way. Virtual reality iscloselyrelatedwithcomputerhapticswherebythe
algorithms and software are associated with the aidof computer graphics or vision aid; for instance,images or videos taken by the embedded cameras todocument renderings of generated touch in virtualobjects[11].
Figure1:BlockDiagramofMachineHaptics[10]
Figure 2 shows the common interaction betweenhumanandmachineingeneralhapticssystemwherebyforcesandmotionareabeingproducedthoughondifferentformsofenergythrougheffector, sensorsandmotor.
concepts and brief introduction on how the systemworks.Currentexperiment,researchworksandexample of commercialized virtual reality hapticsdevices or robots will be introduced in Section III.Following that, Section IV will discuss about theintegrationbetweenbilateralcontrolsystemofhaptic that consists of master and slave system withtheaugmentedvirtualrealityofthesystem.Whilein Section V, the benefits of virtual reality into thehaptics technology and future humankind will bedescribed.ForSectionVI,discussionaboutthereviewwillbestated.Finally,conclusionsandrecommendations for forthcoming works are drawnin Section VI. Research and work contained withinthispaperareonlyabouttheapplicationandresearchreviewsofvirtualrealityandhapticstechnology. This does not include the knowledgeaboutconcernandchallengesofvirtualreality,haptic communication, haptic perception or hapticpoetry.
VIRTUALREALITYCONCEPTS
Haptictechnologyhasshownblendedpossibilities of art and science for creating softwarealgorithmthatsynthesizecomputer-generatedforces and tactile stimulation to be exhibited to userfortheperceptionandmanipulationofvirtualobjectsviatouchasshowninFigure3.Virtualenvironments (VE) or commonly popular as virtualrealityisacomputer-generatedsyntheticenvironment which can interact with a human usertoperformperceptualandmotortaskssuchassqueezing an orange, grasping a bottle and cutting aroll.Inparticular,apersonmovinghishandinvirtualenvironmentforgrippingortouchinganobjectasifthe environmentisreal.
Figure2:Human-MachineInteractionofHaptics
Briefly,thispaperiswrittentopresentinsight about the terms and upper hand of virtualrealityonlyanditsrelationswiththehaptictechnology. From the existing studies, this researchfieldgavepotentialtoexpandandadvanceinvarious sphere especially in education, training andclinical therapies to aid people by distracting mindand flooding sensories with a positive experienceand safe environment. This reduces the need forphysicalmodificationstomachineryandsavesmaterial,timeaswellasfinancialoutlaytogetseries of treatment or learning. In this paper, thestructures are as follows. In Section II, a furtherelucidationisgivenonvirtualrealityhaptics
Figure3:Conceptoftouchinrealand virtualworld[11]
As soon as users’ fingertip interacts withthat object, it exerts a rejoinder force against thefingertoavertitfrompenetratingtheobject.Along
with this, users will sense influence along with theobject’stexture,passingthroughmuscleandmechanoreceptors.Thedexterousreceptors
manipulatespecificobjectinenvironments,withaidforseeingor/andhearingthem,offersacompelling event and leaving users immersed in thedesigned atmosphere with awesome satisfaction. ItislikelythatamazingexperienceinVEcanbeachievedbyasimplehapticinterfacewithembeddedvisualandauditorydisplaytocreateincredible sensation to the users although by truefull touch simulation. Researchers in [2] and [12]has discussed that, a real object can be created in avirtualworldbygeneratedmodelincomputer,creatingfromfunctionlibraryandalgorithmdatabase in specialized software. Commonly, user’sfingertip or hand gestures can be represented as apoint called an ‘avatar’. A typical VE consists of acomputerdisplayoralayoutthatcanprojectcomputer-generatedsyntheticsenvironmentsorvisual images to the outlook direction and a specialgloveorminidevicewherebytheuserscancommandthecomputertoreciprocateanddocorrespondingworksasshowninFigure4andFigure5.
Figure4:Forcerepresentationinavirtualworld[12]
Inscientificunderstanding,thebasicprincipletomakeobjectsinthe virtualenvironment
stipulateinformationonthegeometry,texture,slippage and ambient temperature of item’s surface.Beingabletotrace,experienceand
touchable ismuch simple.When initial senseofcontactfromaperson’shandinteractswithanobject, the nerve receptors in theskinstimulatesand excite. Whereby, the receptors provide tactileinformation of touched objects to the brain. Whenthehandappliesforce,kinestheticinformation(forcefeedback)comesintoplaybyprovidingphysical information about the position and motionof the hand relative to the object. By applying thisscienceconceptintovirtualrealityhaptics,afterhuman user controls the generic probe (best knownasend-effector)ofthehapticdevice,positionsensors of the tools will relay its end position to thecomputer. In every interval period, computer thatcontrols the end-effector will check for friction orclash between the simulated stylus and the virtualobjectspositioned invirtualenvironment.
Furthermore, the haptic rendering systemcalculates the reaction forces/torques that must becounted on at the human-device interaction point asshown in experiment example in Figure 6. It willcontroltheactuator(usuallyanelectricmotor)attached on the device to a tactual perception of thevirtual objects. Let’s say that no touch or collisionwasdetected,noforceswillbecomputed.Moreover,usersfeelfreetomovethestylus,wandering through empty surface. In simple words,anenormityofareactionforcesisassumedproportional to the indentation deepness and forcesareappliedimmediatelyfollowingsurfacepenetration. The concept of virtual reality hapticsand general idea has been discussed in this section.In the next section, current experiment and researchworks as well as some of commercialized virtualreality haptics devices orrobotswill be reviewedformore further.
Figure 5: Haptic system; interaction between a human and the haptic interface represents a bidirectional exchange ofinformation [8]
whichpermitobjectmanipulationbyusingtwohaptic devices. For instance, a low-cost haptic aidedglove equipped with sensors on the wrist allowingthe identification of wrist orientation, by using VRwhichmeansthatpatientsareabletomakeessential motions during the training and are guidedto reach different goals of increasing complexityuntilthecompletionofrehabilitation[13]while
[14]developedtheexperimentsbyaddingthemeasurement of associated neural activity by
Figure6:ExampleofVirtualRealityHapticsExperiment
AVAILABLERESEARCHWORKS
CurrentExperimentandResearchWorks
In this section, findings from previous existingworkswillbestudiedanddividedintodifferenttype of research fields. Kind of research works arebasedonclinicaltrainingwhichinvolverehabilitation exercises and physiotherapy, medicalrobotic surgery, virtual simulator for endodonticstreatment,pilotsimulator,militarytraining,teleoperation and telerobotic, haptics driver supportsystemsandalsovirtualmanufacturingandassembly.
Simulationofreal-worldtasksintheemploymentofintegratedvirtualreality(VR)hapticaldevicesgavesignificantlyattributesinresearch works. There are numerous research fieldsstudyingaboutthistechnology.Oneofitisassociatedwith neural activity that give potentialfor clinical stroke applications and rehabilitationsfor patients diagnosed with stroke or experiencedaccidentsasreviewedin[13-18].InVRbasedrehabilitation, bimanual exercises can be broughtoutbymakinguseofhapticrenderingtechniques
functional magnetic resonance imaging (fMRI) toreceive the force feedback in form of brain sensoryfeedback.Tomakeitmoreinteractive,real-timeinteractionandtoenhancingtherehabilitationsession, [15] also hasintroduced the developmentof haptic-enabledwhack-a-mole games in arcadegames. The system introduces a collision handlingmethodtocomputefeedbackforceandproviderealisticandadequatedatathroughthehapticdeviceinspecific exercise.
Besidesthat,[16]alsohasproposedthat,systemcouldprovideenhancedvisualfeedbackaboutmovementtrajectoryandcollectselectromyography (EMG) from patient to performhandmotionrecognition,whichisbeneficialtoimprove motor function task learning and recognizethe action of grasp as well as evaluate the patients’recovery. This applied concept and work also gavecontribution for lower limb (foot-based) interactionwith virtual environments as proposed in [17], withVRassistivetechnologyenhancingthesensejudgement and alleviate boredom. Generally, hapticinteraction entails spherical end-effectors, such asrobots,withinvariantshapes.Furthermore,thepositionoftheend-effectorscanbetraceablehapticallyafterobjectcontact,whichimpactsthe
ability todeterminetherealpositionoftheendeffectoranddynamicallymanipulatetheobject[18].Thus,withVRtechnologybuildonthesystem,patientsandphysiologistareabletodeterminethepositionoflimbandfollowthepattern while collecting generated data output fordiagnosis and monitoring patient capabilities duringphysiotherapy.
InparalleltotheVRinmedicaltrainingstationsandsurgery,theuseofVR-robotictechnology to aid surgeons and physicians has beenactivelystudied[19-26].Infact,VRhapticinmedicalapplicationsaresubdividedintohuman/toolandtool/tissueinterfaces.Insomeadvocate observation as reviewed by [19], methodforlaparoscopicsurgical,aminimallyinvasivesurgery (MIS), can be conducted in the operatingroom, while others promote animal and simulatedmodels or a combination of surgery-related tasks.Minimally invasive surgery is a complex task thatrequires a synthesis between VR simulations andhapticinformation.Thus,they introducedaskillscale using Markov Models (MM) to create newquantitative knowledges of the forces and torqueapplied by surgeons on their instruments during thesurgerywhiledevelopingamodifiedsurgicalgraspercontainingembeddedsensorscapableofmeasuring forces and torques being applied duringsurgery operation. In [20], functional prototype andimpedancecontrolofasixdegreesoffreedomhaptic interface has been designed to train surgeonsfor laparoscopic procedures, through virtual realitysimulations.Thedevicefeaturesalowapparentinertiawithhighstructuralstiffness,causeofparallelkinematicswithgroundedactuators.Notjustthat,[21],[22]alsoproposedtherealisticsimulationoftool-tissueinteractions.[21]hasdemonstrateddeformationandcuttingoftheoesophagus, where the user can haptically interactwiththevirtualsofttissuesandseethecorrespondingorgandeformationonthevisualdisplaysimultaneouslyfortrainingpurpose.Butthen,[22]wasdedicatedforendoscopictrainingwhereendoscopeisallowedtoreacttocontactforces along six degrees of freedom, as in [20]. Themodel takes intoaccount endpoint position andappropriate contact forces. The illusion of physicalmovement inside the environment is obtained bycomputingcontrolinputsbasedonimpedanceenvironment.
Other studies focused in human/tool interactionarestatedin [23-26].[23-25]isavirtualrealitysimulator for training endodontics operations. But,simulatorin[23]consistsofacustom4DOFhaptic
device for tracking and force feedback. During thesimulation,themovementsuserdoeswiththemanualfiles are tracked andat theend displayedtheforcesappliedduringtheprocedures,thedirection and the amplitude of the movements andthe final result of the tooth preparation. A hapticdevice called as iFeel3 was designed, where it canoutput force in 3D space and can record real-timesix-dimensionalmotion ofthehandleaswellasincreasedthestiffnessofitspreviousprototype[24].
Inanotherwork,a3DVirtualDrillingSimulator of the edentulous space of the dental archinoralrehabilitation,controlledbytheNovintFalcon haptic device was designed and recognizedthe relevance of the simulator as a support tool fortraining students in Implant Dentistry [25].Silvioet. al proposed the Sensimmer platform [26] whichrepresentsresearchonsimultaneoushapticsandgraphics rendering of 3D models which obtainedfrommedicalimagingdata,suchasMagneticResonanceImaging(MRI)orComputedTomography(CT).Inthiswork,imagesegmentation techniques are used to determine theanatomiesofinterestfromtheimages.
Inordertoachievesatisfactoryfidelityandmeets the needs of end users, a degree which thesimulated tasks reproduce, foster knowledge, skillsand behaviours reliably capable are transferred toreal-worldtrainingapplications.Itdeliversaffordable and accessible training systems of virtualsimulationtechnologiesinmilitarytrainingandciviliansurgical contexts[27].
Furthermore, there are also research work thatcontribute in nuclear operation field.As reviewedin [28], a 3D digital mock-up simulator system isbuilt to simulate the nuclear facilities. The humaninterface of a haptical virtual arm is proposed toimprove the reality during the remote operation oftheapparatusinvirtualnuclearfacilities.Asgenerallyknown,remoteoperationinnuclearfacilitiesishazardoussincehumanaccessisrestricted due to the effects of high radiation. Thisapplicationofhapticfeedbacksystemgenerallycalled as teleoperation system. Thus, using a hapticdevice in the roll of a master manipulator enhancesthe throughput and the reliability of the simulationbecause of the kinetic sense of reality. As example,Sansanayuthet.alin[29]implementedtwoPhantom Omni haptic devices connected in master-slaveconfigurationforconstructingtheinversedynamic controller in teleoperation system. Theydemonstratedtheimprovedtrajectorytracking
performanceofthesystemafterthecontrollerisconfigured.
Alongwiththat,thereisalsoaninterfacedesignedtogivetheoperatorauniqueviewtoremotelynavigatetheautonomousteleoperatedagent with minimal cognitive overload and minimalriskofaccidentalinput,asstatedin[30].Nowadays, with a consistent and high speed for livestreaming,researchersin[31-36]promotetele-robotic system which refers to controlling the robotsystem based on internet connection. These projectsare a new field of engineering in current decadesandrequiresanunderstandableknowledgeofvirtual reality and haptics for embedding with thesystem. This architecture is acknowledged to solvethe delay time which is unpredictable during thecommunicationinanuncertainenvironment.Therefore,theadvantagesforimplementingthesystem is the operator is now able to employ andinteractwiththerobotfortasksequencesandroboticactionssmoothly.Togetherwithhapticfeedback, VR technology and less time delay frominternet sources, objects will be easy to handle, notgetoutofcontrolandgivesonthespotreaction.
Besides that, Sebastian et. al stated in [37-39]that a large number of haptic driver support systemshave been studied in previous years. Haptic driversupportsystemsareallabouthapticfeedbackcontrol stick that aided drivers in a car-followingtask. This system retained the general idea aboutvirtual reality haptics but developed it into driversystems used in cars. It is equipped with a warningsystem(usingvibrations)andguidancesystem(usingcontinuousforces),improvingtheperformance of drivers. There are haptic systemsthat support the human in driving subtasks, such aslateral control, car-following, navigation, and eco-driving. Moreover, various channels through whichthehapticsystemscancommunicatewiththedriver, such as the steeringwheel orseat. Somesystems use binary warnings to inform the driverthat he/she is too close to a lead car, whereas othersystems suggest an appropriate action by applying acounter force to thegaspedal.
In view of the fact that haptic VR based wereconsiderable feats for training medium in terms ofsafetyandexpenses,itcouldalsosupportameasurement of competence; much akin to a pilottraininginaflightsimulator.Forinstance,thesystemprovidesalessstressfullearningenvironmentforthesurgicalstudentwhileeliminating risks to the patient in complex surgicalprocedures.Therearealsoothersimulatorsunder
development, coupling the VR computer graphicswith haptic (reaction) feedback devices in order toprovideafullyimmersedvirtualenvironment,combiningboth visualand hapticfeedback.
Inindustry,companiesdemandadvancetechnologies and competitive solutions for virtualrealityapproachtodesignequipmentinshorterproductionrunsandbetterresponses[40],[41].Researchin[42]alsoconcludedthatbuildingamodel in virtual way is much more interactive thanmaking it in conventional way as it helps users tounderstandbetter.Thus,thetermofvirtualmanufacturing is established. Virtual manufacturingconcepts originate from machining operations andare available in a lot of applications in differentfields such as casting, forging, metalworking androbotics.
Virtual manufacturing idea is simply describedas‘manufacturinginthecomputer’[43].Thisdefinitioncontainstwoconceptswhicharetheprocessitself(manufacturing)andenvironment(computer). Virtual reality (VR) is a new method ofvisualoperating andinteractingofcomplex datathat can be realized by computers, in which onewouldhaveanimmersedsensetoobserveandoperateobjectsinthreedimensionstimelyandunboundedlyasworkdevelopedaboutroboticmanufacturingcellin[44]andvirtualvehiclemanufacturing [45]. With a high degree of detail,differentkindsoflights,texturesandmaterialsinsertedtothescenereachedahighdegreeofrealism, at the expense of final performance duringhandling 3D objects. Generally, VR applications inmanufacturinghavebeenclassifiedintothreegroups;design,manufacturingprocesses,andoperationmanagement [46].
VRisanewdevelopingtechniqueandacomplex simulation toolforindustry,itbuildsasimulated environment in which researchers can domany important functions such as product design,assembly, inspection, layout planning, training andperformance parameters test in an unaffected way.These works also can be known as virtual assemblyandvirtualprototyping.Bymeans,virtualprototypes are made to interact with objects in VE.The prototypes highlight all the relevant features ofthe product that has to be investigated, evaluatedandimproved[47].Forexample,analysisofmovements characteristics and elastic dynamics forman-machine interaction technology in post-pressprocessing equipment which is die-cutting machinedesignandmanufacture[48].
Beneficial to meet the requirements of marketcompetition,VRtechnologiesnotonlyreduceeffectivelythetimeandcost,butalsooptimizecomplex products in the design process. To validateand provide users on how to work with 1:1 scaledigital objects in real world, a virtual environmentfor a robotic cell is developed with layout designand implementation planning [49]. Virtual reality isa rapidly developing computer interface that strivestoimmersetheusercompletelywithinanexperimentalsimulation,therebyenhancingtheoverall impact and providing a much more intuitivelinkbetweenthecomputerandthehumanparticipants.Forinstance,thesedevicessignificantlyenhancetaskperformanceandhelpdesignersandengineerstodesignandevaluatecomputer generated mock-ups prior to building anyphysicalprototypeor,decidingthemostappropriateassemblysequence.Supposingtoachieve a multi-modal interface, the second outputmodalitychosenishapticfeedback.WiththedevelopmentsofVegaproject,aninfrastructurecorrespondstooneofthemanufacturingfieldwhichisCAD/CAE[50],thisresearchworksprovedthatvirtualrealitycanbeflexibleinmanufacturingandassemblysimulation.Inthisway,thecapabilityofadvancedmanufacturingmachines and resources can be fully exploited andutilised.
CommercializedProductsof VR
Inthissection,developedandcommercialize products of VR devices and robotsparallel with haptics technology will be introduced.Therearevariouskindsofrobotsandvirtual-haptics devices that suits in different practices andapplicationssuchasforcinemaandmediaentertainments, gaming, surgery, 3D object scene,andexoskeletoncontrollerhavebeendevelopedandhavebeenanticipatedgaininginterestfromsocietiesororganizations.
Entertainmentandgamingworldarefullofexcitement,magicalevents,advancetechnologiesandevokepleasantresponseandgenerate human stimulation. Along with the rapidtechnology,humantendtofeeltherealnessinvirtualmilieualthoughitisjustaninteractionbetweentheinterfaceofcomputer-generatedsurroundings.ExampleofmarketablesurgicalroboticsystemsknownasZEUSbyComputerMotionandthedaVincisystembyIntuitiveSurgical,Inc.Thesekindsofrobotsarestillinclinicaltrialsandhavelimitedhapticfeedback,mayberedefinedbeforeconsiderablyguaranteed
for operation theatre use in the future. Nevertheless,duetotherobots’enhancedprecision,rangeofmotion, dexterity and 3D endoscopic visualization[51], driven feedback provides medically relevantinformationthatcouldimprovetheperformanceofasurgical taskinvariousways.
InadditiontotheVRworld,AxonVR[52],asoftwarecompanybasedinWashington,createdahaptictechnologythatenablesmostrealistic touch sensations in the world for the firsttime.It’sproductwhichwascommercializedasHaptX™isahaptictextilethatdeliverslifeliketouch,allowinguserstofeelthetexture,shape,motion,vibration,andtemperatureofvirtualobjects.It’sanenormousmetalboxwithsomebuttonsandblinkinglights,anditoccasionallymakes ominous noises. HaptX™ is a thin, flexiblehaptic textile made up of an array of microfluidicactuators. By varying pressure and temperature ateachactuator,HaptXcreatessensationsrangingfromthebrushofabutterfly'swingstotheimpactof a punch. From the warmth of a cup of coffee tothechillofasnowball.HaptXcanbringthesenseoftouchtoanysurface.
Whereas, HaptX Skeleton is a lightweightexoskeleton that extends the realism by applyingphysicalforcestouser’sbody.Uniquely,thedeveloper intends to allocate around U$ 5.8 millionto build out HaptX platform which will be licenseddirectly to businesses such as theme parks and VRarcades. The company’s HaptX Skeleton is a full-body exoskeleton that uses force feedback to enablebothlocomotionandmacro-hapticfeedbacktoentirelimbs.HaptXSkeletonextendsHaptX'simmersivecapabilitiesbydeliveringforcefeedback. HaptX Skeleton can be programmed toassistorresistmotion.
Besides that, AxonVR also offers a HaptXSDK which allows developers to easily add hapticproperties and effects to their content. The HaptXSDK includes a plug-in for leading game enginesthatletscontentcreatorsaddrealistictouchsensationstotheirprojectswithoutwritinganycode.HaptXSDKisasoftwaretoolkitthatempowersdeveloperstocreatetouch-enabledexperiences.HaptXSDKworksseamlesslywithleadinggameengines,makingiteasyfordevelopers to create VR experiences that leverageadvanced haptic capabilities.
Bodymotiontrackingtechnologiesarecurrently being developed for the future of virtualreality. Similar to hand tracking technology, bodymotiontrackingisaconceptinthefieldofhaptics
technology,wherebodymovementsarebeinginterpretedby motion sensors as perceivedinputand turns it into useful controls. Basically, with thistechnology, the user himself is the controller. Withrecentadvancementsinhaptics,bodymotiontracking has never been leftout of the game, andhas been a primary focus of third-party developerswho envision a more realistic and immersive VRexperiencemade possiblewith the integration ofvirtualrealityandhaptics.OneofbodymotiontrackingtechnologiesareControlVR.Thewearablecontrollerassurestogiveafullyimmersive virtual reality experience by essentiallyremoving the secondary input mechanisms such asthe traditional mouse-and-keyboard combo. ControlVR isworn on the user’s body, having multiplesensorsbuiltwithinitsunitthatworktosensephysical movements from the user. The controlleris able to make the user as the primary input devicefor computer games that make use of fast hand andarm movements, such as first-person shooter gamesand role-playinggames.
On top of that, The Dexmo F2 developedby Dexta Robotics and HEXOTRAC [53] are also aVR hand exoskeleton device. Due to the detailedhapticfeedbackonDexmoF2;a5-digithandexoskeleton,handlersareabletoexperiencethesensation of lifting up objects in virtualcontent.Aside from its ability to give haptic response, it iscapabletoreplaceold-styleremotecontrolforradio-controlled toys and remote lighting fixtures.While, HEXOTRAC is a 3-digit hand exoskeletonwhich proposes a new approach for high resolutionfingertracking andforcefeedbackwith asingleattachment at the fingertip through 6DoF linkagethat facilitates with a sensor system for tracking andpermitsbidirectionalfeedbackforceatthefingertips.
Alongwithit,avirtualrealityglovenamed Gloveone by NeuroDigital Technologies, isable to provide haptic feedback through hands andfingers for user’s felt. With supported VR headset,Gloveone offers user to sense and interact with anyvirtual object or environment based on the contentprojected from VR as the glove itself is implantedwith numbers of haptic sensors. VR glove lets usersto feel object’s physical physiognomies as well asdoing object manipulations including throwing andpunching as if it was done in real-time. This glovealsoismuchsimilarlikeTheHiroIII,arobotichandthattransmitstouchinformationtothefingertipsoftheuser.
InitiativebyVirtuixandmechanicalandelectronics engineering students in Rice University,gamingcompanyfocusingonVR,HandsOmniwas made. The illusion of touching an object andcreating the ability to distinguish various physicalsurface of an object by inflating and deflating tinyair bladders embedded into strategic parts of theglove.With aVR headsetlinkedtothisdevice,allows users to manipulate a virtual object as if it isdoneoutside fromvirtual reality.
Aside from that, there is also a gaming vestcalled as KOR-FX that utilized acoustic feedbackknownas“acousto-haptics”,whereinturnprocessed into haptic feedback. It uses software tofinely tune the feedback feltby theuser. Thisvestisalsobeneficialforgamesandentertainmentexperiences wherever it is compatible as it can belinkedwithsomePCsandgamingconsolesincludingX-BoxandHoloLens,makingitanindispensabletoolforhapticsinvirtualandaugmented reality.
DevelopedbyNovintTechnologiesInc.,amotion controller commercialized as Novint Falconis a controller that gives haptic feedback to mediaexperiences such as gaming purposes. This 3-DOFtranslational delta parallel robot can be regarded asthereplacementofsphericaljointsbyrotationaljoints [54]. This device also much more reasonablypricedcomparedtoitscounterpartsanddrewattentions for researchers to do robotic control asdiscussedin[55],whichsimulatesvirtualiCubrobot to perform tasks. The device also was alsousedforvisualrepresentationandidentificationpurposes.
Meanwhile, haptic-enabledelectromechanical device known as Phantom OmnibySensAbleTechnologies,isahaptic-enableddevicespecificallyintendedformanipulationofvirtualobjectsandappliedinvariouspracticalapplicationsinaviation,teleoperation,forestryharvesting [56] and robotic industries. The devicestructureisacontrollerarmwith6degreesoffreedom movement sensing, and a stylus for objectmanipulation. Yet, this device has been used forkinematicmodelforprecisemotioncontrolidentifiedparameters[57],simulationofsensorymodeinteractionofdifferentstiffnessandfriction
[58]andcoordinatetransformationbetweenkinematicsmodeland TouchXdevice[59].
Differently for PrioVR, this haptics device istechnologyembeddedwithinertialsensorsto
accuratelyprovidemotiontrackingwitha360-degree field of view. Unlike any haptics technologyinitiativesaforementioned,PrioVRiscontroller-free interface because it is meant to be placed onuser’sbody.Allinertialsensorsarestrategicallyplacedwithinthefull-body suit anddata gatheredby these sensors are then translated into interactionsonscreeninrealtimewithlowlatentperiod.
On top of that, Sixense company are currentlydevelopingawirelesssolutiontohandinputinvirtualrealitywiththeSTEMSystemTM.STEMSystemutilizingalternatingcurrent(AC)electromagnetic field [60] to precisely track bodymovementsintermsofpositionandorientationwithinaradiusofastationarybase.X-rayspectrometers combined with electron microscopesare powerful tool for material micro analysis. Theadvantageisthatitisabletotrackuptofivetrackingpoints,creatinganunrestrictedlevelofmovement freedom. A handheld wireless controllerengaged to create movement data that is transferredonto the base station, turn interpretation into on-screen motion. The technology was demonstratedwithdemosonvirtualshoeshoppingandinteractivelightsabresforgaming.
SixensealsodevelopedMakeVRsoftware[61],[62] which imitates blocks or Play-Doh in reallifetocombineobjectstogetherlikeLEGOorMinecraft blocks. MakeVR uses two Razer Hydracontrollers,Sixensesoftware,theACISCADengine, THI (Two Handed Interface) Engine, a PC,andadisplay.Thisapplicationvergeonanaccessible digital sandbox for making 3D objectsscenes for beginners and with advanced tools forexperts. It presents a pro CAD engine through anaturalimmersivetwo-handed interface.
There is also a VR accessory called Stompz tobe worn on the user’s shoes to provide real-timefeedback and control to games. It is also wirelessand give free movement for user’s interactions withon-screenobjects.AsimplerunorjumpwithStompzcan bereadas motion,andis processedinto input that makes anything on screen to respondbased on the user’s movement. Stompz capable tobring VR experiences to a new level of freedom inhapticstechnology.
TeslaStudios,Scotland-basedVRhapticscompany,iscurrentlydevelopingafull-bodyhapticssuitkindlikePrioVRthatismadetocomplement virtual reality experiences. The TeslaSuitiscomposedofabeltandmodularunitssuch
as gloves, a vest, and trousers. The belt acts as thecontrol centre of every haptic feedback felt by theuser while, the modular units are filled with tinyelectrical impulse units that give off signals felt ashaptic feedback [63]. Tesla Suit, is a futuristic waytoexperienceVRwhilesimultaneouslyfeelingevery action is almost similar to, an Ironman suit.Thesuitwasbuiltwithmotioncapturesystemtechnologyspecs.Thisincrediblesuitwasalsomade to work with VR headsets, gaming consolesand smartphones as well as equipped with climatecontrolsystemtechnology.
StrapTMand VestTMby Woojer is also a devicethat employed particular frequencies signals whenattached to the user’s body, creating an impressionof tactilefeedback throughacousticsignals.Thetechnology works by receiving audio signals fromthesource,andinterprets theacousticsignals toproduce tactile feedback in the form of rumbles inanymediacontent.Asidefromthat,awearableexoskeletonnamedasCyberGraspwhichusestendonsandactuatorstoapplyresistanceperpendicularlytoindividualfingertipoffinger[64-65]. However, its usability is restricted since itslimitedcontrolbandwidthandpositionsensorresolutionnotofferingstableandrealisticforcefeedback. And lastly, The Hiro III is a 5-fingeredhaptic interface robotic hand that transmits touchinformation to the fingertips of the user [66]. Theaim of the development of HIRO III is to provide ahigh-precisionthree-directionalforceatthefivehumanfingertips.
In the world of virtual reality, some realism isneededtofurtherenhancetheimmersiveexperiences that it brings. With thehelpof thesefullbody-trackingtechnologiesthathavebeenannounced publicly as shown in Figure 7, the futureof VR is bright, paired with virtual experiences areindistinguishablefromreallife.Simply,anadrenalinrushandimmersivesensationdeliverspowerful and high impact experience when pairedwithVRheadsets.
Figure7:VirtualRealityHapticsDevicesavailablein market
Figure 8:Overall block diagram of bilateral control system with proposed controller that can be integrated withvirtualrealityplatform [72]
VIRTUAL REALITY INTEGRATIONWITHBILATERALCONTROLSYSTEM
As being stated in introduction part, thispaper reviewsabouttheVRsystem anditslinkwiththehapticsystem.Thus,theconceptofbilateralcontrolsysteminhaptictypeofcommunicationwillbeexplainedandhowtheconcept will be implemented in VR operation arefoundedfromotherresearchers’findingsandstudiesabout thissystem.
Inrobotictechnology,hapticsystemisrecognizedtobeamediumthatcangiveforcesensationtouserfromrealenvironment.Thissystem refers to the application and manipulation oftouch(tactile)sensationtotheinteractionwith
computer applications, machines or human touch.Generally, haptics system can be in synchronousand asynchronous multilateral control for walkingmotion [68]. On the other hand, haptic informationcanbetransmittedintotwodirectionswhichisunilateral and bilateral. Unilateral is a transmissionof information in one direction only without givinganyfeedbacksuchassightandhearing.While,bilateral direction is a transmission of informationthatcomprisingofactionandreactionfrom realenvironmentcontact[69].Forageneralhapticscontroller,adisturbanceobserver(DOB)isimplementedforthetransmissionofvividforcesensation in motion control because it has widerbandwidth than force sensor [70]. DOB is able tomakesampling brief and at sametime increasingtheobservergain[71].
By refering to Figure 8, virtual reality hapticsused concept of master and slave system to achievesameinteractionviadisturbanceobserverandreactionforceobserver(RFOB).DOBisimplementedasanaccelerationcontrolwhileRFOBisestimatedvalueofexternalforcefromenvironment [72],[73]. Another controller known asVisualForceDisturbanceObserver(VDOB)isintegratedintotheapplicationofhapticbilateralsystem.Bydoingso,thestudyofthesystemperformance when the generated visual force can beimprovedandvisualinformationofthetargetobjectcanbeutilizedtoawaresafephysicalinteraction[74],[75].Theintegratedsystemwasalso able to distinguish between different types ofgeometry,materials,distancerangesandobjectstiffness. In short, vision based-haptic perceptionreliesontheimageinformationoftheservoingobjectandmanipulationoftouchsensetothecreation of virtual forces, allowing illusory hapticshapes with different perceived qualities, which hasclear applicationinthistechnology.
Forinstance,bilateralcontrolsystemapplied as in Figure 9 when manipulator that holdsthe acceleration tool to measure the surface texturenamedasaMasterandSlaveisamanipulatorholding a vibration actuator. Both are synchronizedwithsensitivityfrom 10Hz to500Hz.Force andacceleration captured over amplitude and phase ismade to replicate on vibration actuator [76]. Thistypeofmaster-slaveactuationinHapticstechnology is also used in Tele-operations. As wealready know, tele-operation has been studied andhascapabilityinrecoverytasksinthedamagedareas and also exploitation in the extreme workingenvironmentwhichisdifficultformankindtoapproach.Atele-operationcontrolsystemofconstruction robot (TCSCR) [77] developed frommaster-slave control form, is controlled by servovalve, and two joysticks for operating the robot and3-dimensionalvirtualworkingenvironmentasfigured in Figure 10. The teleoperation technologyemployingvirtualreality,improvesthetaskefficiency of a conventional TCSCR by giving theoperator a feeling of being at the actual operate sitein real-time, system security and surpass the dangerexists when operating Remote Construction Robots(RCR).
BENEFITS
Humanbeingshavealwaysbeenfascinatedwithentertainment.Feelingvirtualobjects gave rise to new level kind of entertainmentlike6-Dimensionaland4-Dimensionalmovies
where a person can feel the environment, trainingsimulation, physical challenge and many more. Allthese haptics modulations use various actuators anddevices which makes human feel the existence andsometimesthevirtualworld.Productslikeprogrammablekeyboards,exoskeletons,desktopscales,andjoystickarealldesignedbyvariousmanufacturerswithdifferentnames.Fromlastdecade onwards, integrated VR haptics have beenmostlyusedinmedicalsciences,geosciences,mechanicalsimulations,3Dmodulation,entertainment and most importantly in education.Thereto, about 43% of global market uses hapticsforhumansafetyinvehicles,industries,manufacturingandhelpingthevisuallyimpairedpeopletoreadandwrite.Allthesearecostreductions in global markets and help indirectly toraise the market value of the product.Coming toone of its applications which in recent times hasfascinatedmanyresearchersroundtheworldonhaptics is to store and read texture from varioussurfaces in different patterns and sensing them overauseraffordable device.
Figure 9: Phantom manipulator for texture recognitionwith linear vibrator[73]
Figure 10: Schematic diagram of the tele-operationconstructionrobotsystemwiththevirtualreality.
Everyday people come across various fascinatingsituations, few captured them through photography,and few feels like storing the memories not only intermsofphotographybutalsofeellikestoringthe
sensation and pleasure of touching certain objects.Butunfortunately,aphotographcanneverachieveasenseof touch through itsin-builtengineeringmethods. So how about making a device that cancapturethisfeel?Senseoftouchthatcanberecorded and stored for multiple usage as portrayedinFigure 11.
On the other side, repetitious based tasksupportedwithvirtualrealitytechnologyisirrefutableespeciallyforbalancetrainingforrehabilitation or physiotherapy. Haptic experiencecan be used not only for interaction with virtualenvironmentbutalsoforassessmentofposturalresponses.
Figure 11: Different surfaces which humans feel liketouching throughphotographs[12]
The technology ease patients and clinicianastheresponseintroducesufficientinformationin
As a final point, the area of virtual realityhaptics or known as computer haptics will persist togrowanddevelop,helpedalongbyresearchfindingsonperceptionofmultimodalsolutions,aided by new devices, technologies and inspired byever complex information visualization and tactilesolutions.Fromthereviewsthathavebeendiscussed previously, VR haptics technologies areundoubtedly increasing rapidly. Based on reviewsandexamplesinprevioussections,focusesareabout knowledge in both VR and haptics system.The applications of VR in haptics technology andother technical and medical field are outspread andindifferentrange.Differentfromotherresearchpaperthatfocusedonlyonaparticularresearcharea or a condition, this paper technically revisedabout the general condition of VR and covered upnumerousinvestigationfieldswhichappliedVRconcept in their studies. Expectantly, this paper willhelpotherresearcheraroundtheworldtogainunderstanding and better enlightenment about VRwithitsrelationofhapticsinonereview paper.Thisisbecauselotsoffindingsaswellaspapersareessentiallycontained inthisreviewpaper.
Still, there are gaps in this study field asmost system especially haptics system, are havingchallenges on the feedback response, delay and itsstability.Besides that, the work required enormousbudget todeveloptheVRsystem as thesensor,actuatorandmaterialsitselfareexpensiveand
termsofforcefeedbackandimagedisplaytoidentifythedirectionandposturalresponses.Moreover, it helps doctors’ concerning about thedifficulty level of exercise tothe patients as thesysteminstantlygivingnecessaryposturalresponses for every assessment. Augmented realityhapticconceptobviouslybringsoutfavourstosociety.Hapticsplatformusedinteleoperatedrobotscanrecognizematerialsinhazardousconditions,identificationofsurfaceforlaparoscopicsurgeryandinspectionondamagedmachines. Not just that,the concept also can beused on the data-glove for translating sign languagefor the deaf people [78]. VR also has applied fordental surgery, entertainment and also haptography(sense of touch through photograph). Applicationsof Haptics Technology is left to the imagination ofhumanbrain.Wonderfulbrainwithmillionresponses and size of imagination is compared withuniverse, will always produce better application fortomorrow’sworld.
DISCUSSION
demand part replacement after it has beenworn-out. This matter will be conferred in future workspartinnext section.
CONCLUSIONANDFUTUREWORKS
Thispaperpresentedanoverviewonvirtual reality haptics with its concept, applicationsandresearchworks,integrationwithbilateralcontrol system and the advantage it carries towardsmankindandfuturetechnologies.Thescopeofwork presented has been toward the virtual realityconceptinhapticstechnology.Inadditiontoexperimentalpublications,availablestudiesanddevelopment of research works that involve hapticvirtual reality system were reviewed. These works,some with high level of evidence and others withlow levels, shows the benefits of including hapticfeedbackin specific applications.
However, the budget to build a physicalprototype and perform the simulation at the sametime are quite costly as there will be some changesandmistakesduringthetrial.Therefore,thisresearchgapisrecommendedtousetheavailable
robotsininstitutions’researchlaboratoryandintegrateitwithconventionalVirtualRobotExperimentalPlatform(V-REP)simulationsoftwaretocreateaVRenvironmentfordevelopmentofhapticscommunicationsbetweenthe real and virtual environment. V-REP is one ofreliablecomputersoftwaretoconductandmanipulatehapticsexperimentsusinggeneratedcoding as users are able to set the parameters andspecificationsoftherobotsandappliedtorquesdesired. In subject to improve the system stabilityandfeedbackoutput,integrationofvision-basedobserveraswellasreactionforceobserverareexpectedtomakethesystem respondfasterandaccurate. This issue will be tackled and explored inour next research.
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