Cai Shaoyu, Chen Zhenlin, Gao Haichen, Huang Ya, Zhang Qi, Yu Xinge, Zhu Kening
IEEE Trans Vis Comput Graph. 2025 Jul;31(7):3957-3972. doi: 10.1109/TVCG.2024.3391877.
Extensive research has been done in haptic feedback for texture simulation in virtual reality (VR). However, it is challenging to modify the perceived tactile texture of existing physical objects which usually serve as anchors for virtual objects in mixed reality (MR). In this article, we present ViboPneumo, a finger-worn haptic device that uses vibratory-pneumatic feedback to modulate (i.e., increase and decrease) the perceived roughness of the material surface contacted by the user's fingerpad while supporting the perceived sensation of other haptic properties (e.g., temperature or stickiness) in MR. Our device includes a silicone-based pneumatic actuator that can lift the user's fingerpad on the physical surface to reduce the contact area for roughness decreasing, and an on-finger vibrator for roughness increasing. The results of our perceptual study showed that the participants could perceive changes in roughness, both increasing and decreasing, compared to the original material surface. We also observed the overlapping roughness ratings among certain haptic stimuli (i.e., vibrotactile and pneumatic) and the originally perceived roughness of some materials without any haptic feedback. This suggests the potential to alter the perceived texture of one type of material to another in terms of roughness (e.g., modifying the perceived texture of ceramics as glass). Lastly, a user study of MR experience showed that ViboPneumo could significantly improve the MR user experience, particularly for visual-haptic matching, compared to the condition of a bare finger. We also demonstrated a few application scenarios for ViboPneumo.
针对虚拟现实（VR）中纹理模拟的触觉反馈，人们已经开展了广泛的研究。然而，在混合现实（MR）中，改变现有物理对象的感知触觉纹理具有挑战性，因为这些物理对象通常是虚拟对象的锚定物。在本文中，我们介绍了ViboPneumo，这是一种手指佩戴式触觉设备，它利用振动气动反馈来调节（即增加和减少）用户指腹接触的材料表面的感知粗糙度，同时在MR中支持对其他触觉特性（如温度或粘性）的感知。我们的设备包括一个基于硅胶的气动致动器，它可以将用户的指腹抬离物理表面，以减少接触面积从而降低粗糙度，以及一个用于增加粗糙度的手指振动器。我们的感知研究结果表明，与原始材料表面相比，参与者能够感知到粗糙度的增加和减少。我们还观察到某些触觉刺激（即振动触觉和气动）之间以及一些没有任何触觉反馈的材料的原始感知粗糙度之间存在重叠的粗糙度评级。这表明在粗糙度方面有可能将一种材料的感知纹理改变为另一种材料的感知纹理（例如，将陶瓷的感知纹理修改为玻璃的感知纹理）。最后，一项关于MR体验的用户研究表明，与裸手指的情况相比，ViboPneumo可以显著改善MR用户体验，特别是在视觉触觉匹配方面。我们还展示了ViboPneumo的一些应用场景。
