论文标题
COVR：用于VR中非确定性场景的大规模反馈机器人界面
CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR
论文作者
论文摘要
我们提出了COVR，这是一种新型的机器人界面，可在室内VR竞技场中提供强大的运动反馈（100 N）。它由安装在2D笛卡尔天花板机器人（XY位移）上的物理柱组成，其容量为（1）抗体用户的动作，例如推动或倾斜； （2）通过拉或运输用户以及（3）携带多个潜在重物（最多80kg）来对用户行事，用户可以自由操纵或使彼此互动。我们描述了其实现，并根据新的用户意图模型来定义轨迹生成算法，以支持非确定性的方案，在该场景中，用户可以自由与任何感兴趣的虚拟对象进行交互，而无需对该方案的进度进行介绍。一项技术评估和用户研究表明，COVR的可行性和可用性以及涉及强大力量的全身相互作用的相关性，例如被拉动或运输。
We present CoVR, a novel robotic interface providing strong kinesthetic feedback (100 N) in a room-scale VR arena. It consists of a physical column mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of (1) resisting to body-scaled users' actions such as pushing or leaning; (2) acting on the users by pulling or transporting them as well as (3) carrying multiple potentially heavy objects (up to 80kg) that users can freely manipulate or make interact with each other. We describe its implementation and define a trajectory generation algorithm based on a novel user intention model to support non-deterministic scenarios, where the users are free to interact with any virtual object of interest with no regards to the scenarios' progress. A technical evaluation and a user study demonstrate the feasibility and usability of CoVR, as well as the relevance of whole-body interactions involving strong forces, such as being pulled through or transported.
