Immersive virtual environments can break the deep, everyday connection between where our senses tell us we are and where we are actually located and whom we are with. The concept of 'presence' refers to the phenomenon of behaving and feeling as if we are in the virtual world created by computer displays. In this article, we argue that presence is worthy of study by neuroscientists, and that it might aid the study of perception and consciousness.

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From presence to consciousness through virtual reality

How to measure usability is an important question in HCI research and user interface evaluation. We review current practice in measuring usability by categorizing and discussing usability measures from 180 studies published in core HCI journals and proceedings. The discussion distinguish several problems with the measures, including whether they actually measure usability, if they cover usability broadly, how they are reasoned about, and if they meet recommendations on how to measure usability. In many studies, the choice of and reasoning about usability measures fall short of a valid and reliable account of usability as quality-in-use of the user interface being studied. Based on the review, we discuss challenges for studies of usability and for research into how to measure usability. The challenges are to distinguish and empirically compare subjective and objective measures of usability; to focus on developing and employing measures of learning and retention; to study long-term use and usability; to extend measures of satisfaction beyond post-use questionnaires; to validate and standardize the host of subjective satisfaction questionnaires used; to study correlations between usability measures as a means for validation; and to use both micro and macro tasks and corresponding measures of usability. In conclusion, we argue that increased attention to the problems identified and challenges discussed may strengthen studies of usability and usability research.

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Current practice in measuring usability: Challenges to usability studies and research

A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.

Haptic guidance system and method

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Enhancing Our Lives with Immersive Virtual Reality

It is often desirable to define objects with respect to images of an anatomy displayed using an image guided surgery system. For non-trivial objects, or those with complicated two or three dimensional forms, it may be difficult to present information in a manner that is simple for a user to understand. The local distance to a surface of interest, such as the surface of the defined object, or to a desired position, the local penetration distance of the surface of interest, or haptic repulsion force, often provides the most useful information for augmenting the interaction of the user with the image guided surgery system. The scalar value of the local distance may be conveyed to the user by visual, audio, tactile, haptic, or other means.

Guidance system and method for surgical procedures with improved feedback

Investigating virtual environments has become an increasingly interesting research topic for engineers, computer and cognitive scientists, and psychologists. Although there have been several recent studies focused on the development of multimodal virtual environments (VEs) to study human-machine interactions, less attention has been paid to human-human and human-machine interactions in shared virtual environments (SVEs), and to our knowledge, no attention paid at all to what extent the addition of haptic communication between people would contribute to the shared experience. We have developed a multimodal shared virtual environment and performed a set of experiments with human subjects to study the role of haptic feedback in collaborative tasks and whether haptic communication through force feedback can facilitate a sense of being and collaborating with a remote partner. The study concerns a scenario where two participants at remote sites must cooperate to perform a joint task in an SVE. The goals of the study are (1) to assess the impact of force feedback on task performance, (2) to better understand the role of haptic communication in human-human interactions, (3) to study the impact of touch on the subjective sense of collaborating with a human as reported by the participants based on what they could see and feel, and (4) to investigate if gender, personality, or emotional experiences of users can affect haptic communication in SVEs. The outcomes of this research can have a powerful impact on the development of next-generation human-computer interfaces and network protocols that integrate touch and force feedback technology into the internet, development of protocols and techniques for collaborative teleoperation such as hazardous material removal, space station.

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An experimental study on the role of touch in shared virtual environments

We develop a computer-based training system to simulate laparoscopic procedures in virtual environments for medical training. The major hardware components of our system include a computer monitor to display visual interactions between 3D virtual models of organs and instruments together with a pair of force feedback devices interfaced with laparoscopic instruments to simulate haptic interactions. We simulate a surgical procedure that involves inserting a catheter into the cystic duct using a pair of laparoscopic forceps. This procedure is performed during laparoscopic cholecystectomy to search for gallstones in the common bile duct. Using the proposed system, the user can be trained to grasp and insert a flexible and freely moving catheter into the deformable cystic duct in virtual environments. The associated deformations are displayed on the computer screen and the reaction forces are fed back to the user through the force feedback devices. A hybrid modeling approach was developed to simulate the real-time visual and haptic interactions that take place between the forceps and the catheter, as well as the duct; and between the catheter and the duct.

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Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration

Computer haptics, an emerging field of research that is analogous to computer graphics, is concerned with the generation and rendering of haptic virtual objects. In this paper, we propose an efficient haptic rendering method for displaying the feel of 3-D polyhedral objects in virtual environments (VEs). Using this method and a haptic interface device, the users can manually explore and feel the shape and surface details of virtual objects. The main component of our rendering method is the “neighborhood watch” algorithm that takes advantage of precomputed connectivity information for detecting collisions between the end effector of a force-reflecting robot and polyhedral objects in VEs. We use a hierarchical database, multithreading techniques, and efficient search procedures to reduce the computational time such that the haptic servo rate after the first contact is essentially independent of the number of polygons that represent the object. We also propose efficient methods for displaying surface properties of objects such as haptic texture and friction. Our haptic-texturing techniques and friction model can add surface details onto convex or concave 3-D polygonal surfaces. These haptic-rendering techniques can be extended to display dynamics of rigid and deformable objects.

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Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects

In this paper, we propose a new ray-based haptic rendering method for displaying 3D objects in virtual environments. We have developed a set of software algorithms that work with a force reflecting haptic interface and enable the user to touch and feel arbitrary 3D polyhedral virtual objects. Using the interface device and the suggested model, the user feels as if exploring the shape and surface details of objects such as textures. The components of the model include a hierarchical database for storing geometrical and material properties of objects, collision detection algorithms, a simple mechanistic model for computing the forces of interaction between the 3D virtual objects and the force-reflecting device, and a haptic filtering technique for simulating surface details of objects such as smoothness and texture. The developed algorithms together with a haptic interface device have several applications in areas such as medicine, education, computer animation, teleoperation, entertainment, and rehabilitation.

Ray-based haptic rendering technique for displaying shape and texture of 3D objects in virtual environments

A ray-based interaction system and related techniques are described. The ray-based interaction system and rendering techniques can be used to display haptic interactions between objects having one or more dimensions and a haptic probe modeled as a line segment.

Chih-Hao Ho

Papers

An experimental study on the role of touch in shared virtual environments

Virtual environments for medical training: graphical and haptic simulation of laparoscopic common bile duct exploration

Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects

Ray-based haptic rendering technique for displaying shape and texture of 3D objects in virtual environments

Ray based interaction system