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題名 在控制器上呈現壓力伴隨著旋轉力的回饋
Rendering Feedback of Pressing Force Accompanied by Rotational Force on a Controller
作者 王仕豪
Wang, Shih-Hao
貢獻者 蔡欣叡
Tsai, Hsin-Ruey
王仕豪
Wang, Shih-Hao
關鍵詞 觸覺回饋
皮膚
拉伸
滑動
壓力
控制器
haptic feedback
skin
stretch
slip
pressing force
controller
日期 2023
上傳時間 1-Sep-2023 15:23:46 (UTC+8)
摘要 在虛擬實境（VR）中，握住物體或使用手持物體與其他物體進行互動（例如敲擊、滑動和削）是很常見的。在這樣的互動中，手上施加的壓力通常伴隨著旋轉力，以產生切向力在皮膚上引起皮膚的拉 伸和滑動。例如，在削尖木棒時，阻力和摩擦力會使刀柄擠壓和拉伸 手部皮膚。在划船時，槳在手中形成一個錐形擺動運動。這些顯示了 壓力和旋轉力不同的反饋組合。先前的研究要麼渲染壓力，要麼渲染 旋轉力，但不同時呈現。因此，我們提出了一種控制器 RotatingStick， 以渲染壓力伴隨旋轉力以增強逼真度。它移動和/或旋轉其上部以渲染 四種回饋組合，包括渲染壓力、旋轉力、同時施加壓力和旋轉力以及 偏心旋轉運動。我們進行了感知研究，以獲得旋轉控制器和手之間的 相對速度閾值，以區分皮膚的拉伸和滑動。進行了一項探索性研究， 以觀察旋轉控制器的相對速度、方向和距離等參數如何影響不同場景 中的使用者。我們進一步進行了 VR 研究，以驗證 RotatingStick 改善 了使用者的體驗。
Holding an object or using the held object to interact with other objects, e.g., knocking, sliding, and paring, is common in virtual reality (VR). In such interactions, pressing force applying to the hand is usually accompanied by rotational force to generate tangential force on the skin and cause skin stretch and slip. For example, in sharpening a wood stick, the resistive force and friction force make the knife handle press and stretch the hand. In rowing a boat, the oar forms a conical pendulum movement in the hand. These show the different feedback combinations of pressing and rotational force. Previ- ous works either render pressing or rotational force, but do not provide them simultaneously. Therefore, we propose a controller, RotatingStick, to render pressing force accompanied by the rotational to enhance realism. It moves and/or rotates its upper part to render four feedback combinations, includ- ing rendering pressing force, rotational force, pressing and rotational force simultaneously and eccentric rotation movement. We conducted a perception study to obtain the relative speed thresholds between the rotating controller and the hand to distinguish skin stretch and slip. An exploratory study was performed to observe how parameters, including relative speed, direction, and distance of the rotating controller, affect users in various scenarios. We fur- ther conducted a VR study to verify that the RotatingStick improves users’ experiences.
參考文獻 [1] Inrak Choi, Eyal Ofek, Hrvoje Benko, Mike Sinclair, and Christian Holz. 2018. Claw: A multifunctional handheld haptic controller for grasping, touching, and triggering in virtual reality. In Proceedings of the 2018 CHI conference on human factors in computing systems. 1–13.
[2] Cathy Fang, Yang Zhang, Matthew Dworman, and Chris Harrison. 2020. Wire- ality: Enabling complex tangible geometries in virtual reality with worn multi- string haptics. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1–10.
[3] Xiaochi Gu, Yifei Zhang, Weize Sun, Yuanzhe Bian, Dao Zhou, and Per Ola Kris- tensson. 2016. Dexmo: An inexpensive and lightweight mechanical exoskeleton for motion capture and force feedback in VR. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. 1991–1995.
[4] Ashley L Guinan, Markus N Montandon, Andrew J Doxon, and William R Provancher. 2014. Discrimination thresholds for communicating rotational iner- tia and torque using differential skin stretch feedback in virtual environments. In 2014 IEEE Haptics Symposium (HAPTICS). IEEE, 277–282.
[5] Takeru Hashimoto, Shigeo Yoshida, and Takuji Narumi. 2022. MetamorphX: An Ungrounded 3-DoF Moment Display that Changes its Physical Properties through Rotational Impedance Control. In Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology. 1–14.
[6] Seongkook Heo, Christina Chung, Geehyuk Lee, and Daniel Wigdor. 2018. Thor’s hammer: An ungrounded force feedback device utilizing propeller-induced propulsive force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems. 1–11.
[7] Seungwoo Je, Myung Jin Kim, Woojin Lee, Byungjoo Lee, Xing-Dong Yang, Pedro Lopes, and Andrea Bianchi. 2019. Aero-plane: A handheld force-feedback device that renders weight motion illusion on a virtual 2d plane. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology. 763–775.
[8] Myung Jin Kim, Neung Ryu, Wooje Chang, Michel Pahud, Mike Sinclair, and Andrea Bianchi. 2022. SpinOcchio: Understanding Haptic-Visual Congruency of Skin-Slip in VR with a Dynamic Grip Controller. In CHI Conference on Human Factors in Computing Systems. 1–14.
[9] Chi-Jung Lee, Hsin-Ruey Tsai, and Bing-Yu Chen. 2021. Hairtouch: Providing stiffness, roughness and surface height differences using reconfigurable brush hairs on a vr controller. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–13.
[10] Jaeyeon Lee, Mike Sinclair, Mar Gonzalez-Franco, Eyal Ofek, and Christian Holz. 2019. TORC: A virtual reality controller for in-hand high-dexterity finger inter- action. In Proceedings of the 2019 CHI conference on human factors in computing systems. 1–13.
[11] Jo-Yu Lo, Da-Yuan Huang, Chen-Kuo Sun, Chu-En Hou, and Bing-Yu Chen. 2018. RollingStone: Using single slip taxel for enhancing active finger exploration with a virtual reality controller. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology. 839–851.
[12] Pedro Lopes, Sijing You, Lung-Pan Cheng, Sebastian Marwecki, and Patrick Baudisch. 2017. Providing haptics to walls & heavy objects in virtual reality by means of electrical muscle stimulation. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. 1471–1482.
[13] Romain Nith, Shan-Yuan Teng, Pengyu Li, Yujie Tao, and Pedro Lopes. 2021. DextrEMS: Increasing Dexterity in Electrical Muscle Stimulation by Combining it with Brakes. In The 34th Annual ACM Symposium on User Interface Software and Technology. 414–430.
[14] Jun Rekimoto. 2013. Traxion: A Tactile Interaction Device with Virtual Force Sensation. In Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology (St. Andrews, Scotland, United Kingdom) (UIST ’13). Association for Computing Machinery, New York, NY, USA, 427–432. https: //doi.org/10.1145/2501988.2502044
[15] Neung Ryu, Hye-Young Jo, Michel Pahud, Mike Sinclair, and Andrea Bianchi. 2021. GamesBond: Bimanual Haptic Illusion of Physically Connected Objects for Immersive VR Using Grip Deformation. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–10.
[16] Samuel B Schorr and Allison M Okamura. 2017. Fingertip tactile devices for virtual object manipulation and exploration. In Proceedings of the 2017 CHI conference on human factors in computing systems. 3115–3119.
[17] Mike Sinclair, Eyal Ofek, Mar Gonzalez-Franco, and Christian Holz. 2019. Capstan- crunch: A haptic vr controller with user-supplied force feedback. In Proceedings of the 32nd annual ACM symposium on user interface software and technology. 815–829.
[18] Yuqian Sun, Shigeo Yoshida, Takuji Narumi, and Michitaka Hirose. 2019. Pacapa: A handheld vr device for rendering size, shape, and stiffness of virtual objects in tool-based interactions. In Proceedings of the 2019 CHI conference on human factors in computing systems. 1–12.
[19] Ching-Yi Tsai, I-Lun Tsai, Chao-Jung Lai, Derrek Chow, Lauren Wei, Lung-Pan Cheng, and Mike Y Chen. 2022. AirRacket: Perceptual Design of Ungrounded, Directional Force Feedback to Improve Virtual Racket Sports Experiences. In CHI Conference on Human Factors in Computing Systems. 1–15.
[20] Hsin-Ruey Tsai, Yu-So Liao, and Chieh Tsai. 2022. ImpactVest: Rendering Spatio- Temporal Multilevel Impact Force Feedback on Body in VR. In CHI Conference on Human Factors in Computing Systems. 1–11.
[21] Hsin-Ruey Tsai, Jun Rekimoto, and Bing-Yu Chen. 2019. ElasticVR: Providing mul- tilevel continuously-changing resistive force and instant impact using elasticity for vr. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. 1–10.
[22] Hsin-Ruey Tsai, Chieh Tsai, Yu-So Liao, Yi-Ting Chiang, and Zhong-Yi Zhang. 2022. FingerX: Rendering Haptic Shapes of Virtual Objects Augmented by Real Objects using Extendable and Withdrawable Supports on Fingers. In CHI Confer- ence on Human Factors in Computing Systems. 1–14.
[23] Chih-An Tsao, Tzu-Chun Wu, Hsin-Ruey Tsai, Tzu-Yun Wei, Fang-Ying Liao, Sean Chapman, and Bing-Yu Chen. 2022. FrictShoes: Providing Multilevel Nonuniform Friction Feedback on Shoes in VR. IEEE Transactions on Visualization & Computer Graphics 01 (2022), 1–11.
[24] Chi Wang, Da-Yuan Huang, Shuo-Wen Hsu, Cheng-Lung Lin, Yeu-Luen Chiu, Chu-En Hou, and Bing-Yu Chen. 2020. Gaiters: exploring skin stretch feedback on legs for enhancing virtual reality experiences. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1–14.
[25] Yu-Wei Wang, Yu-Hsin Lin, Pin-Sung Ku, Y ̄oko Miyatake, Yi-Hsuan Mao, Po Yu Chen, Chun-Miao Tseng, and Mike Y Chen. 2021. JetController: High-speed Ungrounded 3-DoF Force Feedback Controllers using Air Propulsion Jets. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–12.
[26] Tzu-Yun Wei, Hsin-Ruey Tsai, Yu-So Liao, Chieh Tsai, Yi-Shan Chen, Chi Wang, and Bing-Yu Chen. 2020. Elastilinks: Force feedback between vr controllers with dynamic points of application of force. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology. 1023–1034.
[27] Eric Whitmire, Hrvoje Benko, Christian Holz, Eyal Ofek, and Mike Sinclair. 2018. Haptic revolver: Touch, shear, texture, and shape rendering on a reconfigurable virtual reality controller. In Proceedings of the 2018 CHI conference on human factors in computing systems. 1–12.
[28] Kyle N Winfree, Jamie Gewirtz, Thomas Mather, Jonathan Fiene, and Katherine J Kuchenbecker. 2009. A high fidelity ungrounded torque feedback device: The iTorqU 2.0. In World Haptics 2009-Third Joint EuroHaptics conference and Sympo- sium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE, 261–266.
[29] Shunki Yamashita, Ryota Ishida, Arihide Takahashi, Hsueh-Han Wu, Hironori Mitake, and Shoichi Hasegawa. 2018. Gum-gum shooting: Inducing a sense of arm elongation via forearm skin-stretch and the change in the center of gravity. In ACM SIGGRAPH 2018 Emerging Technologies. 1–2.
[30] André Zenner and Antonio Krüger. 2019. Drag: on: A virtual reality controller providing haptic feedback based on drag and weight shift. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. 1–12.
[31] Zhong-Yi Zhang, Hong-Xian Chen, Shih-Hao Wang, and Hsin-Ruey Tsai. 2022. ELAXO: Rendering Versatile Resistive Force Feedback for Fingers Grasping and Twisting. In Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology. 1–14.
[32] Alexandra Delazio, Ken Nakagaki, Roberta L Klatzky, Scott E Hudson, Jill Fain Lehman, and Alanson P Sample. 2018. Force jacket: Pneumatically-actuated jacket for embodied haptic experiences. In Proceedings of the 2018 CHI conference on human factors in computing systems. 1–12.
[33] Chun-Miao Tseng, Po-Yu Chen, Shih Chin Lin, Yu-Wei Wang, Yu-Hsin Lin, Mu-An Kuo, Neng-Hao Yu, and Mike Y Chen. 2022. HeadWind: Enhancing Teleportation Experience in VR by Simulating Air Drag during Rapid Motion. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems. 1–11.
描述 碩士
國立政治大學
資訊科學系
110753102
資料來源 http://thesis.lib.nccu.edu.tw/record/#G0110753102
資料類型 thesis
dc.contributor.advisor 蔡欣叡zh_TW
dc.contributor.advisor Tsai, Hsin-Rueyen_US
dc.contributor.author (Authors) 王仕豪zh_TW
dc.contributor.author (Authors) Wang, Shih-Haoen_US
dc.creator (作者) 王仕豪zh_TW
dc.creator (作者) Wang, Shih-Haoen_US
dc.date (日期) 2023en_US
dc.date.accessioned 1-Sep-2023 15:23:46 (UTC+8)-
dc.date.available 1-Sep-2023 15:23:46 (UTC+8)-
dc.date.issued (上傳時間) 1-Sep-2023 15:23:46 (UTC+8)-
dc.identifier (Other Identifiers) G0110753102en_US
dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/147029-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 資訊科學系zh_TW
dc.description (描述) 110753102zh_TW
dc.description.abstract (摘要) 在虛擬實境（VR）中，握住物體或使用手持物體與其他物體進行互動（例如敲擊、滑動和削）是很常見的。在這樣的互動中，手上施加的壓力通常伴隨著旋轉力，以產生切向力在皮膚上引起皮膚的拉 伸和滑動。例如，在削尖木棒時，阻力和摩擦力會使刀柄擠壓和拉伸 手部皮膚。在划船時，槳在手中形成一個錐形擺動運動。這些顯示了 壓力和旋轉力不同的反饋組合。先前的研究要麼渲染壓力，要麼渲染 旋轉力，但不同時呈現。因此，我們提出了一種控制器 RotatingStick， 以渲染壓力伴隨旋轉力以增強逼真度。它移動和/或旋轉其上部以渲染 四種回饋組合，包括渲染壓力、旋轉力、同時施加壓力和旋轉力以及 偏心旋轉運動。我們進行了感知研究，以獲得旋轉控制器和手之間的 相對速度閾值，以區分皮膚的拉伸和滑動。進行了一項探索性研究， 以觀察旋轉控制器的相對速度、方向和距離等參數如何影響不同場景 中的使用者。我們進一步進行了 VR 研究，以驗證 RotatingStick 改善 了使用者的體驗。zh_TW
dc.description.abstract (摘要) Holding an object or using the held object to interact with other objects, e.g., knocking, sliding, and paring, is common in virtual reality (VR). In such interactions, pressing force applying to the hand is usually accompanied by rotational force to generate tangential force on the skin and cause skin stretch and slip. For example, in sharpening a wood stick, the resistive force and friction force make the knife handle press and stretch the hand. In rowing a boat, the oar forms a conical pendulum movement in the hand. These show the different feedback combinations of pressing and rotational force. Previ- ous works either render pressing or rotational force, but do not provide them simultaneously. Therefore, we propose a controller, RotatingStick, to render pressing force accompanied by the rotational to enhance realism. It moves and/or rotates its upper part to render four feedback combinations, includ- ing rendering pressing force, rotational force, pressing and rotational force simultaneously and eccentric rotation movement. We conducted a perception study to obtain the relative speed thresholds between the rotating controller and the hand to distinguish skin stretch and slip. An exploratory study was performed to observe how parameters, including relative speed, direction, and distance of the rotating controller, affect users in various scenarios. We fur- ther conducted a VR study to verify that the RotatingStick improves users’ experiences.en_US
dc.description.tableofcontents CHAPTER 1 INTRODUCTION 1
CHAPTER 2 RELATED WORK 4
2.1 FORCE FEEDBACK ON HAND 4
2.2 CUTANEOUS FEEDBACK OF SKIN STRETCH AND SLIP 5
CHAPTER 3 ROTATINGSTICK 7
3.1 DESIGN CONSIDERATIONS 8
3.2 IMPLEMENTATION 10
CHAPTER 4 SKIN STRETCH/SLIP PERCEPTION STUDY: RELATIVE
SPEED THRESHOLDS 13
4.1 PARTICIPANTS AND APPARATUS 14
4.2 TASK AND PROCEDURE 14
4.3 RESULTS AND DISCUSSION 16
CHAPTER 5 EXPLORATORY STUDY 18
5.1 PARTICIPANTS AND APPARATUS 19
5.2 TASK AND PROCEDURE 19
5.3 RESULTS AND DISCUSSION 26
CHAPTER 6 VR EXPERIENCE STUDY 36
6.1 PARTICIPANTS AND APPARATUS 36
6.2 TASK AND PROCEDURE 36
6.3 RESULTS AND DISCUSSION 41
CHAPTER 7 LIMITATIONS AND FUTURE WORK 45
CHAPTER8 CONCLUSION 47
REFERENCES 48		zh_TW
dc.format.extent 3733149 bytes-
dc.format.mimetype application/pdf-
dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0110753102en_US
dc.subject (關鍵詞) 觸覺回饋zh_TW
dc.subject (關鍵詞) 皮膚zh_TW
dc.subject (關鍵詞) 拉伸zh_TW
dc.subject (關鍵詞) 滑動zh_TW
dc.subject (關鍵詞) 壓力zh_TW
dc.subject (關鍵詞) 控制器zh_TW
dc.subject (關鍵詞) haptic feedbacken_US
dc.subject (關鍵詞) skinen_US
dc.subject (關鍵詞) stretchen_US
dc.subject (關鍵詞) slipen_US
dc.subject (關鍵詞) pressing forceen_US
dc.subject (關鍵詞) controlleren_US
dc.title (題名) 在控制器上呈現壓力伴隨著旋轉力的回饋zh_TW
dc.title (題名) Rendering Feedback of Pressing Force Accompanied by Rotational Force on a Controlleren_US
dc.type (資料類型) thesisen_US
dc.relation.reference (參考文獻) [1] Inrak Choi, Eyal Ofek, Hrvoje Benko, Mike Sinclair, and Christian Holz. 2018. Claw: A multifunctional handheld haptic controller for grasping, touching, and triggering in virtual reality. In Proceedings of the 2018 CHI conference on human factors in computing systems. 1–13.
[2] Cathy Fang, Yang Zhang, Matthew Dworman, and Chris Harrison. 2020. Wire- ality: Enabling complex tangible geometries in virtual reality with worn multi- string haptics. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1–10.
[3] Xiaochi Gu, Yifei Zhang, Weize Sun, Yuanzhe Bian, Dao Zhou, and Per Ola Kris- tensson. 2016. Dexmo: An inexpensive and lightweight mechanical exoskeleton for motion capture and force feedback in VR. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems. 1991–1995.
[4] Ashley L Guinan, Markus N Montandon, Andrew J Doxon, and William R Provancher. 2014. Discrimination thresholds for communicating rotational iner- tia and torque using differential skin stretch feedback in virtual environments. In 2014 IEEE Haptics Symposium (HAPTICS). IEEE, 277–282.
[5] Takeru Hashimoto, Shigeo Yoshida, and Takuji Narumi. 2022. MetamorphX: An Ungrounded 3-DoF Moment Display that Changes its Physical Properties through Rotational Impedance Control. In Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology. 1–14.
[6] Seongkook Heo, Christina Chung, Geehyuk Lee, and Daniel Wigdor. 2018. Thor’s hammer: An ungrounded force feedback device utilizing propeller-induced propulsive force. In Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems. 1–11.
[7] Seungwoo Je, Myung Jin Kim, Woojin Lee, Byungjoo Lee, Xing-Dong Yang, Pedro Lopes, and Andrea Bianchi. 2019. Aero-plane: A handheld force-feedback device that renders weight motion illusion on a virtual 2d plane. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology. 763–775.
[8] Myung Jin Kim, Neung Ryu, Wooje Chang, Michel Pahud, Mike Sinclair, and Andrea Bianchi. 2022. SpinOcchio: Understanding Haptic-Visual Congruency of Skin-Slip in VR with a Dynamic Grip Controller. In CHI Conference on Human Factors in Computing Systems. 1–14.
[9] Chi-Jung Lee, Hsin-Ruey Tsai, and Bing-Yu Chen. 2021. Hairtouch: Providing stiffness, roughness and surface height differences using reconfigurable brush hairs on a vr controller. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–13.
[10] Jaeyeon Lee, Mike Sinclair, Mar Gonzalez-Franco, Eyal Ofek, and Christian Holz. 2019. TORC: A virtual reality controller for in-hand high-dexterity finger inter- action. In Proceedings of the 2019 CHI conference on human factors in computing systems. 1–13.
[11] Jo-Yu Lo, Da-Yuan Huang, Chen-Kuo Sun, Chu-En Hou, and Bing-Yu Chen. 2018. RollingStone: Using single slip taxel for enhancing active finger exploration with a virtual reality controller. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology. 839–851.
[12] Pedro Lopes, Sijing You, Lung-Pan Cheng, Sebastian Marwecki, and Patrick Baudisch. 2017. Providing haptics to walls & heavy objects in virtual reality by means of electrical muscle stimulation. In Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems. 1471–1482.
[13] Romain Nith, Shan-Yuan Teng, Pengyu Li, Yujie Tao, and Pedro Lopes. 2021. DextrEMS: Increasing Dexterity in Electrical Muscle Stimulation by Combining it with Brakes. In The 34th Annual ACM Symposium on User Interface Software and Technology. 414–430.
[14] Jun Rekimoto. 2013. Traxion: A Tactile Interaction Device with Virtual Force Sensation. In Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology (St. Andrews, Scotland, United Kingdom) (UIST ’13). Association for Computing Machinery, New York, NY, USA, 427–432. https: //doi.org/10.1145/2501988.2502044
[15] Neung Ryu, Hye-Young Jo, Michel Pahud, Mike Sinclair, and Andrea Bianchi. 2021. GamesBond: Bimanual Haptic Illusion of Physically Connected Objects for Immersive VR Using Grip Deformation. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–10.
[16] Samuel B Schorr and Allison M Okamura. 2017. Fingertip tactile devices for virtual object manipulation and exploration. In Proceedings of the 2017 CHI conference on human factors in computing systems. 3115–3119.
[17] Mike Sinclair, Eyal Ofek, Mar Gonzalez-Franco, and Christian Holz. 2019. Capstan- crunch: A haptic vr controller with user-supplied force feedback. In Proceedings of the 32nd annual ACM symposium on user interface software and technology. 815–829.
[18] Yuqian Sun, Shigeo Yoshida, Takuji Narumi, and Michitaka Hirose. 2019. Pacapa: A handheld vr device for rendering size, shape, and stiffness of virtual objects in tool-based interactions. In Proceedings of the 2019 CHI conference on human factors in computing systems. 1–12.
[19] Ching-Yi Tsai, I-Lun Tsai, Chao-Jung Lai, Derrek Chow, Lauren Wei, Lung-Pan Cheng, and Mike Y Chen. 2022. AirRacket: Perceptual Design of Ungrounded, Directional Force Feedback to Improve Virtual Racket Sports Experiences. In CHI Conference on Human Factors in Computing Systems. 1–15.
[20] Hsin-Ruey Tsai, Yu-So Liao, and Chieh Tsai. 2022. ImpactVest: Rendering Spatio- Temporal Multilevel Impact Force Feedback on Body in VR. In CHI Conference on Human Factors in Computing Systems. 1–11.
[21] Hsin-Ruey Tsai, Jun Rekimoto, and Bing-Yu Chen. 2019. ElasticVR: Providing mul- tilevel continuously-changing resistive force and instant impact using elasticity for vr. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems. 1–10.
[22] Hsin-Ruey Tsai, Chieh Tsai, Yu-So Liao, Yi-Ting Chiang, and Zhong-Yi Zhang. 2022. FingerX: Rendering Haptic Shapes of Virtual Objects Augmented by Real Objects using Extendable and Withdrawable Supports on Fingers. In CHI Confer- ence on Human Factors in Computing Systems. 1–14.
[23] Chih-An Tsao, Tzu-Chun Wu, Hsin-Ruey Tsai, Tzu-Yun Wei, Fang-Ying Liao, Sean Chapman, and Bing-Yu Chen. 2022. FrictShoes: Providing Multilevel Nonuniform Friction Feedback on Shoes in VR. IEEE Transactions on Visualization & Computer Graphics 01 (2022), 1–11.
[24] Chi Wang, Da-Yuan Huang, Shuo-Wen Hsu, Cheng-Lung Lin, Yeu-Luen Chiu, Chu-En Hou, and Bing-Yu Chen. 2020. Gaiters: exploring skin stretch feedback on legs for enhancing virtual reality experiences. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1–14.
[25] Yu-Wei Wang, Yu-Hsin Lin, Pin-Sung Ku, Y ̄oko Miyatake, Yi-Hsuan Mao, Po Yu Chen, Chun-Miao Tseng, and Mike Y Chen. 2021. JetController: High-speed Ungrounded 3-DoF Force Feedback Controllers using Air Propulsion Jets. In Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems. 1–12.
[26] Tzu-Yun Wei, Hsin-Ruey Tsai, Yu-So Liao, Chieh Tsai, Yi-Shan Chen, Chi Wang, and Bing-Yu Chen. 2020. Elastilinks: Force feedback between vr controllers with dynamic points of application of force. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology. 1023–1034.
[27] Eric Whitmire, Hrvoje Benko, Christian Holz, Eyal Ofek, and Mike Sinclair. 2018. Haptic revolver: Touch, shear, texture, and shape rendering on a reconfigurable virtual reality controller. In Proceedings of the 2018 CHI conference on human factors in computing systems. 1–12.
[28] Kyle N Winfree, Jamie Gewirtz, Thomas Mather, Jonathan Fiene, and Katherine J Kuchenbecker. 2009. A high fidelity ungrounded torque feedback device: The iTorqU 2.0. In World Haptics 2009-Third Joint EuroHaptics conference and Sympo- sium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. IEEE, 261–266.
[29] Shunki Yamashita, Ryota Ishida, Arihide Takahashi, Hsueh-Han Wu, Hironori Mitake, and Shoichi Hasegawa. 2018. Gum-gum shooting: Inducing a sense of arm elongation via forearm skin-stretch and the change in the center of gravity. In ACM SIGGRAPH 2018 Emerging Technologies. 1–2.
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