Tangible objects are used in virtual reality (VR) and augmented reality (AR) to enhance haptic information on the general shape of virtual objects. However, they are often passive or unable to simulate rich varying mechanical properties. This article studies the effect of combining simple passive tangible objects and wearable haptics for improving the display of varying stiffness, friction, and shape sensations in these environments. By providing timely cutaneous stimuli through a wearable finger device, we can make an object feel softer or more slippery than it really is, and we can also create the illusion of encountering virtual bumps and holes. We evaluate the proposed approach carrying out three experiments with human subjects. Results confirm that we can increase the compliance of a tangible object by varying the pressure applied through a wearable device. We are also able to simulate the presence of bumps and holes by providing timely pressure and skin stretch sensations. Altering the friction of a tangible surface showed recognition rates above the chance level, albeit lower than those registered in the other experiments. Finally, we show the potential of our techniques in an immersive medical palpation use case in VR. These results pave the way for novel and promising haptic interactions in VR, better exploiting the multiple ways of providing simple, unobtrusive, and inexpensive haptic displays.

中文翻译：

---

使用可穿戴触觉改变虚拟现实中有形物体的刚度、摩擦力和形状感知

有形物体用于虚拟现实 (VR) 和增强现实 (AR)，以增强虚拟物体一般形状的触觉信息。然而，它们通常是被动的或无法模拟丰富多样的机械特性。本文研究了将简单的被动有形物体和可穿戴触觉相结合的效果，以改善这些环境中不同刚度、摩擦和形状感觉的显示。通过可穿戴手指设备提供及时的皮肤刺激，我们可以让物体感觉比实际更柔软或更滑，我们还可以创造遇到虚拟凹凸的错觉。我们评估了对人类受试者进行三个实验的建议方法。结果证实，我们可以通过改变通过可穿戴设备施加的压力来增加有形物体的顺应性。我们还能够通过提供及时的压力和皮肤拉伸感来模拟隆起和孔洞的存在。改变有形表面的摩擦显示出高于机会水平的识别率，尽管低于其他实验中记录的识别率。最后，我们展示了我们的技术在 VR 沉浸式医疗触诊用例中的潜力。这些结果为 VR 中新颖且有前景的触觉交互铺平了道路，更好地利用了提供简单、不显眼且廉价的触觉显示的多种方式。改变有形表面的摩擦显示出高于机会水平的识别率，尽管低于其他实验中记录的识别率。最后，我们展示了我们的技术在 VR 沉浸式医疗触诊用例中的潜力。这些结果为 VR 中新颖且有前景的触觉交互铺平了道路，更好地利用了提供简单、不显眼且廉价的触觉显示的多种方式。改变有形表面的摩擦显示出高于机会水平的识别率，尽管低于其他实验中记录的识别率。最后，我们展示了我们的技术在 VR 沉浸式医疗触诊用例中的潜力。这些结果为 VR 中新颖且有前景的触觉交互铺平了道路，更好地利用了提供简单、不显眼且廉价的触觉显示的多种方式。