Modulating Real Object Stiffness for Haptic Augmented Reality

  • Seokhee Jeon
  • Seungmoon Choi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5024)


In haptic augmented reality, a user can enjoy the sensations of real objects augmented with synthetic haptic stimuli created by a haptic interface. For example, a haptic augmented reality system may allow the user to feel a soft sponge as a stiffer rubber. In this paper, we present a framework in which the stiffness of a real object can be modulated with additional virtual haptic feedback. For this, a commercial haptic interface is extended with a force sensor. Efficient and effective algorithms for contact detection and stiffness modulation are proposed for the closed-loop framework. Performance evaluation with real samples showed that the stiffness modulation is quite capable except for very rigid objects (e.g., a wood plate) where unstable oscillations dominate the response. This work serves as an initial building block towards a general haptic augmented reality system.


Stiffness modulation Haptic augmented reality Mixed reality 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Seokhee Jeon
    • 1
  • Seungmoon Choi
    • 1
  1. 1.Haptics and Virtual Reality Laboratory Department of Computer Science and EngineeringPOSTECHKorea

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