Feeling and seeing: issues in force display
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
High resolution virtual reality
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Merging virtual objects with the real world: seeing ultrasound imagery within the patient
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Visual tracking of known three-dimensional objects
International Journal of Computer Vision
Robust model-based motion tracking through the integration of search and estimation
International Journal of Computer Vision
A demonstrated optical tracker with scalable work area for head-mounted display systems
I3D '92 Proceedings of the 1992 symposium on Interactive 3D graphics
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Improving static and dynamic registration in an optical see-through HMD
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
A frequency-domain analysis of head-motion prediction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Superior augmented reality registration by integrating landmark tracking and magnetic tracking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Managing latency in complex augmented reality systems
Proceedings of the 1997 symposium on Interactive 3D graphics
Pfinder: Real-Time Tracking of the Human Body
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
A Visual/Haptic Interface to Virtual Environment (WYSIWYF Display) and Its Application
CVVRHC '98 Proceedings of the 1998 Workshop on Computer Vision for Virtual Reality Based Human Communications (CVVRHC '98)
Simulation and presentation of curved surface in virtual reality environment through surface display
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Dynamic registration correction in augmented-reality systems
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Quantification of adaptation to virtual-eye location in see-thru head-mounted displays
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
VRAIS '96 Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
Allowable Delay Between Images and Tactile Information in a Haptic Interface
VSMM '97 Proceedings of the 1997 International Conference on Virtual Systems and MultiMedia
Development of a video-rate stereo machine
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Self-tracker: a smart optical sensor on silicon (vlsi, graphics)
Self-tracker: a smart optical sensor on silicon (vlsi, graphics)
Visuomotor Adaptation to Virtual Hand Position in Interactive Virtual Environments
Presence: Teleoperators and Virtual Environments
Implementation and evaluation of "just follow me": an immersive, VR-based, motion-training system
Presence: Teleoperators and Virtual Environments
Proceedings of the ACM symposium on Virtual reality software and technology
International Journal of Robotics Research
IEEE Transactions on Visualization and Computer Graphics
The importance of accurate VR head registration on skilled motor performance
GI '06 Proceedings of Graphics Interface 2006
Presence: Teleoperators and Virtual Environments - Special issue: 8th annual international workshop on presence II
Towards a model human cochlea: sensory substitution for crossmodal audio-tactile displays
GI '08 Proceedings of graphics interface 2008
A fingertip haptic display for improving curvature discrimination
Presence: Teleoperators and Virtual Environments
An adaptive automated robotic task-practice system for rehabilitation of arm functions after stroke
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Beyond: collapsible input device for direct 3D manipulation beyond the screen
UIST '10 Adjunct proceedings of the 23nd annual ACM symposium on User interface software and technology
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
WYSIWYF: exploring and annotating volume data with a tangible handheld device
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
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To build a VR training system for visuomotor skills, an image displayed by a visual interface should be correctly registered to a haptic interface so that the visual sensation and the haptic sensation are both spatially and temporally consistent. In other words, it is desirable that what you see is what you feel (WYSIWYF). In this paper, we propose a method that can realize correct visual/haptic registration, namely WYSIWYF, by using a vision-based, object-tracking technique and a video-keying technique. Combining an encountered-type haptic device with a motion-command-type haptic rendering algorithm makes it possible to deal with two extreme cases (free motion and rigid constraint). This approach provides realistic haptic sensations, such as free-to-touch and move-and-collide. We describe a first prototype and illustrate its use with several demonstrations. The user encounters the haptic device exactly when his or her hand reaches a virtual object in the display. Although this prototype has some remaining technical problems to be solved, it serves well to show the validity of the proposed approach.