In virtual environments, spatial discrepancies between visual and haptic scenes negatively impact user performance and experience. This paper shows how spatial discrepancies due to pose differences can occur in a haptic augmented virtuality system with an encountered-type haptic display. To mitigate this problem, we propose visual guidance, an algorithm that dynamically manipulates the visual scene to compensate for discrepancies. The effectiveness of this algorithm was verified in a pair of studies involving a button pressing task and spatial discrepancies between ±150 mm and ±40°. Experimental results show that discrepant trials using the technique yield error rates and a number of speed peaks (representing the number of targeting movements) that are comparable to those attained in trials with zero spatial discrepancy. This result was also achieved without requiring a dedicated adaptation or training process, ensuring the algorithm can be used immediately by users. A pair of follow-up studies also indicates the algorithm has little impact on subjective ratings of simulator sickness, suggesting that sporadic use of the algorithm will not negatively affect user’s experience of a virtual environment. We believe that the visual guidance algorithm presented in this paper can be used to create more useful and compelling experiences in various haptic training applications incorporating encountered-type haptic displays.

中文翻译：

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遇到型触觉显示器中空间差异问题的视觉引导

在虚拟环境中，视觉和触觉场景之间的空间差异会对用户性能和体验产生负面影响。本文展示了在具有遭遇型触觉显示器的触觉增强虚拟系统中，由于姿势差异而导致的空间差异是如何发生的。为了缓解这个问题，我们提出了视觉引导，这是一种动态操纵视觉场景以补偿差异的算法。该算法的有效性在一对涉及按钮按下任务和 ±150 mm 和 ±40° 之间的空间差异的研究中得到验证。实验结果表明，使用该技术的差异试验产生的错误率和一些速度峰值（代表目标运动的数量）与在零空间差异的试验中获得的结果相当。这一结果也是在不需要专门的适应或训练过程的情况下实现的，确保用户可以立即使用该算法。一对后续研究也表明该算法对模拟器疾病的主观评分几乎没有影响，表明该算法的零星使用不会对用户在虚拟环境中的体验产生负面影响。我们相信，本文中提出的视觉引导算法可用于在包含遇到型触觉显示的各种触觉训练应用程序中创建更有用和引人注目的体验。表明该算法的零星使用不会对用户的虚拟环境体验产生负面影响。我们相信，本文中提出的视觉引导算法可用于在包含遇到型触觉显示的各种触觉训练应用程序中创建更有用和引人注目的体验。建议零星使用该算法不会对用户的虚拟环境体验产生负面影响。我们相信，本文中提出的视觉引导算法可用于在包含遇到型触觉显示的各种触觉训练应用程序中创建更有用和引人注目的体验。