Guido Böttcher Knihy

Focusing on enhancing user interaction in Virtual Reality, this textbook explores the integration of haptic feedback with visual immersion. It details the principles necessary for developing VR systems that achieve high update rates for force feedback, particularly in simulating contact forces during a two-finger grasp of textiles. The work introduces innovative algorithms to accurately render small-scale surface properties, like roughness, while addressing the dynamic behavior of textiles. Comprehensive analysis highlights challenges encountered and solutions devised throughout the research.

The focus from most Virtual Reality (VR) systems lies mainly on the visual immersion of the user. But the emphasis only on the visual perception is insufficient for some applications as the user is limited in his interactions within the VR. Therefore the textbook presents the principles and theoretical background to develop a VR system that is able to create a link between physical simulations and haptic rendering which requires update rates of 1\,kHz for the force feedback. Special attention is given to the modeling and computation of contact forces in a two-finger grasp of textiles. Addressing further the perception of small scale surface properties like roughness, novel algorithms are presented that are not only able to consider the highly dynamic behaviour of textiles but also capable of computing the small forces needed for the tactile rendering at the contact point. Final analysis of the entire VR system is being made showing the problems and the solutions found in the work