Papers by Sabine Coquillart
Six Degree-of-Freedom Rendering of Rigid Environments
%F inria-00390308, version 1 %0 Book Section %U http://hal.inria.fr/inria-00390308/en/ %2 INFO:IN... more %F inria-00390308, version 1 %0 Book Section %U http://hal.inria.fr/inria-00390308/en/ %2 INFO:INFO_MO %T Six Degree-of-Freedom Rendering of Rigid Environments %A Ortega, Michael %A Redon, Stephane %A Coquillart, Sabine %+ PSA Peugeot - Citroën - PSA - Peugeot-...
Virtual Reality, IEEE Annual International Symposium, 2006
This paper describes a generalization of the god-object method for haptic interaction between rig... more This paper describes a generalization of the god-object method for haptic interaction between rigid bodies. Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user. The motion of the god-object is computed using continuous collision detection and constraint-based quasi-statics, which enables high-quality haptic interaction between contacting rigid
Computer Graphics Forum, 2003
The workbench is an interesting semi-immersive configuration for interactive tasks. However, hapt... more The workbench is an interesting semi-immersive configuration for interactive tasks. However, haptic feedback, i.e. force and tactile feedback, is one important cue which is missing. To the authors' knowledge, the sole proposed solution consists in installing an arm force feedback device on one-screen workbenches. This solution, however, has several drawbacks. The arm can perturb the stereoscopic display, cross virtual objects or hide parts of the visualization space. Furthermore, the interaction space is limited by the size of the arm, which may also damage the screen or perturb the electromagnetic tracking system. Some of these difficulties may even be worth with a twoscreen workbench. This paper discusses an alternative solution, which consists in integrating a stringed haptic device on a workbench. This approach is less invasive, more flexible and well-suited to a two-screen workbench.
This paper examines the effect of adding haptic force cues (simulated inertia, compensation of gr... more This paper examines the effect of adding haptic force cues (simulated inertia, compensation of gravity) during 3D-path following in large immersive virtual reality environments. Thirty-four participants were asked to follow a 3D ring-on-wire trajectory. The experiment consisted of one pre-test/control bloc of twelve trials with no haptic feedback; followed by three randomized blocs of twelve trials, where force feedbacks differed. Two levels of inertia were proposed and one level compensating the effect of gravity (No-gravity). In all blocks, participants received a real time visual warning feedback (color change), related to their spatial performance. Contrariwise to several psychophysics studies, haptic force cues did not significantly change the task performance in terms of time completion or spatial distance error. The participants however significantly reduced the time passed in the visual warning zone in the presence of haptic cues. Taken together, these results are discussed from a psychophysics and multi-sensory integration point of view.
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, 2010
Most conventional computer-aided navigation systems assist the surgeon visually by tracking the p... more Most conventional computer-aided navigation systems assist the surgeon visually by tracking the position of an ancillary and by superposing this position into the 3D preoperative imaging exam. This paper aims at adding to such navigation systems a device that will guide the surgeon towards the target, following a complex preplanned ancillary trajectory. We propose to use tactile stimuli for such guidance, with the design of a vibrating belt. An experiment using a virtual surgery simulator in the case of skull base surgery is conducted with 9 naïve subjects, assessing the vibrotactile guidance effectiveness for complex trajectories. Comparisons between a visual guidance and a visual+tactile guidance are encouraging, supporting the relevance of such tactile guidance paradigm.
Haptic guidances increase the visuomanual tracking of Japanese and Arabic letters
ABSTRACT
This paper examines the effect of adding haptic force cues (simulated inertia, compensation of gr... more This paper examines the effect of adding haptic force cues (simulated inertia, compensation of gravity) during 3D-path following in large immersive virtual reality environments. Thirty-four participants were asked to follow a 3D ring-on-wire trajectory. The experiment consisted of one pre-test/control bloc of twelve trials with no haptic feedback; followed by three randomized blocs of twelve trials, where force feedbacks differed. Two levels of inertia were proposed and one level compensating the effect of gravity (No-gravity). In all blocks, participants received a real time visual warning feedback (color change), related to their spatial performance. Contrariwise to several psychophysics studies, haptic force cues did not significantly change the task performance in terms of time completion or spatial distance error. The participants however significantly reduced the time passed in the visual warning zone in the presence of haptic cues. Taken together, these results are discussed from a psychophysics and multi-sensory integration point of view.
CONTACT: arbitrary in-between motions for collision detection
Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), 2001
... Table 1 reports the total number of sphere/sphere (SS), edge/edge (EE), vertex/face (VF) and ... more ... Table 1 reports the total number of sphere/sphere (SS), edge/edge (EE), vertex/face (VF) and face/vertex (FV) tests along the whole path ... A n algebraic so-lution to the problem of collisiondetection for rigid polyhedral objects ... The haptic display of complex graphical environments ...
Virtual environments such as the Responsive WorkbenchTM1 allow the close manipulation of virtual ... more Virtual environments such as the Responsive WorkbenchTM1 allow the close manipulation of virtual objects. We define close manipulation as either direct ma- nipulation or manipulation at a relatively small distance. This paper reports on two studies on close manipulation us- ing the Responsive Workbench. The first study investigates the influence of manipulation distance on performance in a 3D location task.
HEMP ¿ Hand-Displacement-Based Pseudo-Haptics: A Study of a Force Field Application
2008 IEEE Symposium on 3D User Interfaces, 2008
Abstract This paper introduces a novel pseudo-haptic approach called HEMP - hand-displacement-bas... more Abstract This paper introduces a novel pseudo-haptic approach called HEMP - hand-displacement-based pseudo-haptics. The main idea behind HEMP is to provide haptic-like sensations by dynamically displacing the visual representation of the user's hand. This paper studies the possible application of HEMP to the simulation of force fields (FF). The proposed hardware solution for simulating the hand displacement is based on an Augmented Reality configuration, the video see-through head-mounted display. A response model is proposed for controlling the hand displacement. This model adapts to the user's hand movements. It also accounts for a number of perceptual and system constraints. An experiment has been carried out to investigate the potential of the proposed technique. Subjects had to perform a FF strength comparison task and to fill in an illusion evaluation questionnaire. Results show that different force field strength levels are discriminable and that flow pressure-like sensations are perceived by subjects.
Incremental Conversion of 3D Wireframe Models to Polygonal Surface Models
International Conference in Central Europe on Computer Graphics and Visualization, 2000
Though a large variety of methods has been developed to model 3D objects, most of them arebased o... more Though a large variety of methods has been developed to model 3D objects, most of them arebased on the construction of solid objects or curved surfaces. This work is part of a sketch-basedproject for modeling arbitrarily polygonal shapes. The method for modeling 3D objects is basedon the user drawing or removing of edges. This paper addresses the automatic computation ofthe
The Magic Mirror: A Metaphor for Assisting the Exploration of Virtual Worlds
spring conference on computer graphics, 2000
This paper addresses the problem of exploring virtual 3D worlds and introduces the Magic Mirror. ... more This paper addresses the problem of exploring virtual 3D worlds and introduces the Magic Mirror. The Magic Mir- ror is a user interface technique that mimics a hand mirror. In addition to providing the optical effect of a real mirror, several non-physical extensions are also proposed. As a metaphor, the Magic Mirror is an intuitive and easy to learn interaction
Command & Control Cube: a Shortcut Paradigm for Virtual Environments
Eurographics, 2001
... proc}, author = {Matthias Bues and Roland Blach and Simon Stegmaier and Ulrich Häfner and Hil... more ... proc}, author = {Matthias Bues and Roland Blach and Simon Stegmaier and Ulrich Häfner and Hilko Hoffmann and Frank Haselberger}, title ... EGVE01:219-228:2001, crossref = {EGVE01-proc}, author = {AL Fuhrmann and R. Splechtna and J. Prikryl}, title = {{Comprehensive ...
Quikwriting on the responsive workbench
ACM SIGGRAPH 2002 conference abstracts and applications on - SIGGRAPH '02, 2002
Virtual environments (VEs) like the projection-based Responsive Workbench have greatly enhanced t... more Virtual environments (VEs) like the projection-based Responsive Workbench have greatly enhanced the interactive visualization and manipulation of 3D objects. In these configurations, the classical desktop interaction techniques have to be reconsidered. In particular, a simple operation like text typing, although needed for basic operations like saving one's work under a specific file name or entering a precise numerical value inside
Gauss' least constraints principle and rigid body simulations
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002
Most of well-known approaches for rigid body simulations are formulated in the contact-space. Tha... more Most of well-known approaches for rigid body simulations are formulated in the contact-space. Thanks to Gauss' prin- ciple of least constraints, the frictionless dynamics prob lems are formulated in a motion-space. While the two formula- tions are mathematically equivalent, they are not computat ion- ally equivalent. The motion-space formulation is better co ndi- tionned, always sparse, needs less memory, and avoids some unnecessary computations. A preliminary experimental com - parison suggests that an algorithm operating in the motion- space takes advantage of sparsity to perform increasingly b et- ter than a contact-space algorithm as the average number of contact points per object increases.
Multimodal virtual reality application for the study of unilateral spatial neglect
2010 IEEE Virtual Reality Conference (VR), 2010
In the present paper, we describe a virtual reality application developed for the study of unilat... more In the present paper, we describe a virtual reality application developed for the study of unilateral spatial neglect, a post-stroke neurological disorder that results in failure to respond to stimuli presented contralaterally to the damaged hemisphere. Recently, it has been proposed that patients with unilateral spatial neglect experience sensorimotor decorrelation in the affected space. Consequently, it is possible that since the sensorimotor experience in the affected space is perturbed, patients avoid this space, which results in neglect behavior. Here, we evaluate this hypothesis using a virtual reality application built on the base of the Stringed Haptic Workbench, a large-scale visuo-haptic system. The results provide support for the hypothesis and demonstrate that the proposed application is suitable for the envisioned goal.
Special issue on Pacific Graphics 2002
Graphical Models, 2003
ABSTRACT
PLoS ONE, 2008
and ellipses in Experiment 2. We observed that the use of HGF globally improves the fluency of th... more and ellipses in Experiment 2. We observed that the use of HGF globally improves the fluency of the visuo-manual tracking of trajectories while no significant improvement was found for HGP or NHG.
Proceedings IEEE Virtual Reality 2001, 2001
This paper describes a psychophysical experiment designed to study the phenomenon of illusion whi... more This paper describes a psychophysical experiment designed to study the phenomenon of illusion which occurs with the pseudo-haptic feedback (see ), and to identify the moment when this illusion occurs : the "boundary of illusion". The subjects were given the task of deciding which of two virtual springs is the stiffer, these springs being simulated with a ¡ £ ¢ ¥ ¤ § ¦ ¥ © TM force feedback device and displayed on a monoscopic computer screen. The first spring has a realistic behavior since its visual and haptic displacements are identical. The second spring -the pseudo-haptic one -is stiffer, on a haptic basis, but sometimes less stiff, on a visual basis.
A haptic prototype for the simulations of aeronautics mounting/unmounting operations
Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), 2001
Abstract The paper presents a haptic simulator that was developed to study the possibilities offe... more Abstract The paper presents a haptic simulator that was developed to study the possibilities offered by the haptic feedback in the field of the simulations of aeronautics mounting/unmounting operations. This prototype proposes a method to simulate forces ...
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Papers by Sabine Coquillart