Multimodal Sensing Interface for Haptic Interaction

Figure 18

3D depth image reconstruction procedure. (a) Objects placed on the test platform are located with the Kinect sensor. Dimensions of the objects are computed to describe them using parallelepiped or cylindrical volumes. In (b), a scaled representation of the objects is used to build virtual volumes in the workspace of the user. The virtual models are used as an input of the haptic module to provide tactile sensations when the virtual objects are penetrated by the hand of the user (c).

(a)

(b)

(c)