Multimodal Sensing Interface for Haptic Interaction

Figure 25

Generation of the haptic signal. Objects on the test table ((b), (f)) are described and modeled with the depth system. They are represented on a user screen with top and side view ((d), (h)). Virtual objects are represented in graphic form in (c) and in tactile form in the tactile region (a). When the hand of the user touches or penetrates the virtual volumes (e) a vibration message is sent to the tactors on the glove.