情報処理学会研究報告 IPSJ SIG Technical Report Vol.2016-MBL-80 No.11 Vol.2016-CDS-17 No /8/ (VR) (AR) VR, AR VR, AR Study of a Feedback Method fo

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1 1 1 1 (VR) (AR) VR, AR VR, AR Study of a Feedback Method for Force Sensing by Only Visual Recognitions so that Human can Interface with Real Objects which are Made from Soft Materials MAKOTO USAMI 1 HIROSHI SUGIMURA 1 MASAO ISSHIKI 1 Virtual Reality (VR), Augmented Reality (AR) is promising technologies. Then interfacing in between haptic force sense of human and virtual world enhances presence of VR, AR system. However it is difficult to obtain feedback information without forcing real objects by human haptic force sense, which the objects have various shape, material and flexibility. There are various types of soft material objects such as human skin, clothes and commodities such as sponges and rubbers in the real world. Since hands and fingers of human are really sensitive, and have haptic and force senses, it is a very important factor to interface with these soft objects. In this paper, we focus recognitions of finger force sense to soft objects, and feedback the response information to VR, AR system. Then in order to measure distortion quantity of soft objects forced by the finger, we propose a method to estimate distortion level of soft objects only by camera s visual recognition of an attached marker on the object. We develop a controller to feedback distortion level by the force of finger strokes to the system, and select polyurethane sponge material with the marker to structure the controller. Then we prove effectiveness of interface method by evaluating correlations of distortion level by the marker, push force of finger and finger stroke to push. In this method, the controller does not require any cable, battery, and can be manipulated by hand easily. As a result we achieve the interfacing method between virtual world and real world where human can feel force sense to soft objects. 1. (VR), (AR) (HMD) VR AR VR ( ) [1] VR, AR 1 Kanagawa Institute of Technology c 2016 Information Processing Society of Japan 1

2 VR, AR [2] 1 VR HMD VR VR 2 AR HMD AR HMD AR AR AR HMD VR, AR [8] [9] ARToolKit [10] (CB) [11, 12] 1 [13] [14] [15] 2. VR HMD Oculus Rift[3] Oculus Touch[4] Leap Motion[5] Oculus Rift AR 2 ARToolKit[6] ARToolKit [7] AR 1 VR Fig.1 Controller in VR system 2 AR Fig. 2 AR system for educations of massage 1 Kanagawa Institute of Technology c 2016 Information Processing Society of Japan 2

3 3. (CB) VR AR Pa 1 2 (N) 3 Fig.3 Sponge Controller = / (1) CB L 2 (L 2 ) L 2 CB 1 RGB L 2 5 Rotation (0, 0, 0), Translation (0, 0, 0) 5mm 4 L Y X 2 4 L 2 Fig. 4 Design of L-shaped 2D marker 5 Fig.5 Relative position between marker and world coordinate system 1 Kanagawa Institute of Technology c 2016 Information Processing Society of Japan 3

4 CB L L 2 L L 2 L 2 36 L 2 L 2 L 2 L [16] (fx, fy) 2 3 = 2 tan 2 (2) = 2 tan 2 (3) (Cx, Cy) 4 5 = 2 = 2 (4) (5) 6 Fig.6 Pin-hole camera model L 2 (X, Y) Rotation L L [10] OpenCV[17] Translation, Rotation VR VR 2 HMD L 2 VR VR HMD L 2 VR 5 Translation, Rotation L 2 3 Translation L 2 HMD c 2016 Information Processing Society of Japan 4

5 HMD Translation, Rotation L 2 2 L CB VR VR 9 PPN (N ) 15mm 5mm (N) 10 3 N N 4. L 2 VR 4.1. ( 8 A) ( 8 B) 100 x 100 x 50mm 9 Fig. 9 Measurement environment of softness of sponge 8 Fig.8 Comparison of polyurethane and polyethylene mm 70% 15mm 10 Fig. 10 Measurement result of softness of sponge L 2 L 2 X, Y 1 VR Nexus5 5 c 2016 Information Processing Society of Japan 5

6 Translation (0,0,300) Rotation (0,0,0) Translation Z mm x mm 0.27mm L 2 OpenCV mm 5mm 35mm 36 X, Y 13 35mm L 2 L mm L 2 11 Fig. 11 Experimental equipment 12 (0mm ) Fig.12 Before pushing sponge (0mm stroke) 13 35mm Fig. 13 Pushing 35mm in stroke X, Y 14 X 15 Y X Y L mm Y X 10mm 15mm 35mm 20mm 0.25mm( ) X mm 35mm 35mm 0.48mm 0.53% X Y 20mm 25mm 35mm 10mm 0.27mm( ) Y mm 35mm 35mm 0.96mm 1.0% c 2016 Information Processing Society of Japan 6

7 14 15 X Y 26 Y Y 16 X,Y Y VR AR 14 X Fig. 14 Displacement in X axis 15 Y Fig. 15 Displacement in Y axis 16 Fig. 16 Evaluation by Euclidean distance 5. VR, AR VR AR L 2 AR, VR L 2 [1] : Vol. 16 No.2 pp (1998) [2] : 3, ( 2008). [3] Oculus VR, Oculus Rift: https: // (2016). [4] Oculus VR, Oculus Touch: (2016). [5] G. Marin, F. Dominio, P. Zanuttigh: Hand gesture recognition with c 2016 Information Processing Society of Japan 7

8 leap motion and kinect devices Image Processing (ICIP), IEEE International Conference, pp (2014). [6] 4) W. Piekarski., B.Thomas: Using ARToolKit for 3D hand position tracking in mobile outdoor environments Augmented Reality Toolkit ; The First IEEE International Workshop, pp (2002). [7] AR Vol. 60, No. 6, pp (2006). [8] N.Kobori, D.Deguchi, T.Takahashi, I. Ide, H.Murase: Vol.114 pp (2014). [9] : pp.6-11 (2007). [10] 3 AR 5 4 pp.1 9 (2015). [11] A. Kimura et al: United States Patent, No: US 8,113,432 B2 (2012). [12] B-Core, Colorbit Reference:, ce_en2.pdf (2010). [13] : Vol.14, No.3, pp (2009). [14],,,,, :, Vol. 68 No. 2 p , (2016) [15] (2016) [16] D. Hoiem: Projective Geometry and Camera Models, Computer Vision CS 543 / ECE 549 University of Illinois, pp.1-57 (2011). [17] OpenCV.org, The OpenCV Reference Manual Release 2.3, (2011). c 2016 Information Processing Society of Japan 8

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