Force-Feedback Haptic Device for Representation of Tugs in Virtual Reality

In this study, a haptic device is proposed for virtual reality (VR) applications. The proposed haptic device is linked to the bundle controller of a VR device. The device proposed in this study is a force-feedback device that focuses on the sensation felt by the hand rather than the feeling of the tool colliding with the object. The device provides sensations of centrifugal or inertial forces due to the weight of the tool when the user swings the tool and the sensation of a reaction force when the user stabs or pokes an object with the tool. The force generated by a haptic device of the linked type was measured and examined to determine whether a sensation of actually using a tool in the virtual environment was provided. In addition, we conducted two types of experiments to evaluate the proposed haptic device. First, VR content was created for the user experience, and a survey was conducted with 30 experimenters to compare the bundle controllers and a haptic device, called HapTug, in terms of realism, immersion, and enjoyment. The survey results demonstrated that the realism, immersion, and enjoyment increased compared to using the bundle controller alone. A total of 41 experimenters were allowed to play freely in a virtual environment for six sessions of 30 s each. They pressed the reset session button when they felt 30 s had passed, and the device they were wearing turned on and off randomly every session. During the experience, their playback time, number of interactions, and range were measured. As a result, when the device was activated, experimenters felt the time was shorter and showed widespread movement. Thus, it was proven that the proposed linked-type haptic device effectively delivered the feeling of wielding a tool, allowing the user to feel the virtual object coming in and going out of the hand when interacting with it. Moreover, three conclusions were drawn from the results of the experiments: previous VR experience times have little to do with satisfaction related to haptic device use, users have low expectations for haptic realism, and users interact more actively and exaggeratedly with a haptic device