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      Low-Latency Haptic Open Glove for Immersive Virtual Reality Interaction

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          Abstract

          Recent advancements in telecommunications and the tactile Internet have paved the way for studying human senses through haptic technology. Haptic technology enables tactile sensations and control using virtual reality (VR) over a network. Researchers are developing various haptic devices to allow for real-time tactile sensation, which can be used in various industries, telesurgery, and other mission-critical operations. One of the main criteria of such devices is extremely low latency, as low as 1 ms. Although researchers are attempting to develop haptic devices with low latency, there remains a need to improve latency and robustness to hand sizes. In this paper, a low-latency haptic open glove (LLHOG) based on a rotary position sensor and min-max scaling (MMS) filter is proposed to realize immersive VR interaction. The proposed device detects finger flexion/extension and adduction/abduction motions using two position sensors located in the metacarpophalangeal (MCP) joint. The sensor data are processed using an MMS filter to enable low latency and ensure high accuracy. Moreover, the MMS filter is used to process object handling control data to enable hand motion-tracking. Its performance is evaluated in terms of accuracy, latency, and robustness to finger length variations. We achieved a very low processing delay of 145.37 μs per finger and overall hand motion-tracking latency of 4 ms. Moreover, we tested the proposed glove with 10 subjects and achieved an average mean absolute error (MAE) of 3.091 for flexion/extension, and 2.068 for adduction/abduction. The proposed method is therefore superior to the existing methods in terms of the above factors for immersive VR interaction.

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          Most cited references51

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          Clinical measurement of range of motion. Review of goniometry emphasizing reliability and validity.

          Clinical measurement of range of motion is a fundamental evaluation procedure with ubiquitous application in physical therapy. Objective measurements of ROM and correct interpretation of the measurement results can have a substantial impact on the development of the scientific basis of therapeutic interventions. The purpose of this article is to review the related literature on the reliability and validity of goniometric measurements of the extremities. Special emphasis is placed on how the reliability of goniometry is influenced by instrumentation and procedures, differences among joint actions and body regions, passive versus active measurements, intratester versus intertester measurements, and different patient types. Our discussion of validity encourages objective interpretation of the meaning of ROM measurements in light of the purposes and the limitations of goniometry. We conclude that clinicians should adopt standardized methods of testing and should interpret and report goniometric results as ROM measurements only, not as measurements of factors that may affect ROM.
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            A Survey of Augmented, Virtual, and Mixed Reality for Cultural Heritage

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              Recalibration of multisensory simultaneity: cross-modal transfer coincides with a change in perceptual latency.

              After exposure to asynchronous sound and light stimuli, perceived audio-visual synchrony changes to compensate for the asynchrony. Here we investigate to what extent this audio-visual recalibration effect transfers to visual-tactile and audio-tactile simultaneity perception in order to infer the mechanisms responsible for temporal recalibration. Results indicate that audio-visual recalibration of simultaneity can transfer to audio-tactile and visual-tactile stimuli depending on the way in which the multisensory stimuli are presented. With presentation of co-located multisensory stimuli, we found a change in the perceptual latency of the visual stimuli. Presenting auditory stimuli through headphones, on the other hand, induced a change in the perceptual latency of the auditory stimuli. We argue that the difference in transfer depends on the relative trust in the auditory and visual estimates. Interestingly, these findings were confirmed by showing that audio-visual recalibration influences simple reaction time to visual and auditory stimuli. Presenting co-located stimuli during asynchronous exposure induced a change in reaction time to visual stimuli, while with headphones the change in reaction time occurred for the auditory stimuli. These results indicate that the perceptual latency is altered with repeated exposure to asynchronous audio-visual stimuli in order to compensate (at least in part) for the presented asynchrony.
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                Author and article information

                Contributors
                Role: Academic Editor
                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                25 May 2021
                June 2021
                : 21
                : 11
                : 3682
                Affiliations
                [1 ]Department of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea; simdh2073@ 123456sju.ac.kr (D.S.); wmolnaf@ 123456sejong.ac.kr (Y.B.); s.park@ 123456sejong.ac.kr (S.P.)
                [2 ]Department of Information and Communication Engineering, Sejong University, Seoul 05006, Korea; 17013130@ 123456sju.ac.kr
                Author notes
                [* ]Correspondence: sharifsagar80@ 123456sju.ac.kr (A.S.M.S.S.); hyungkim@ 123456sejong.ac.kr (H.S.K.)
                [†]

                These authors contributed equally to this work.

                Author information
                https://orcid.org/0000-0002-6687-5016
                Article
                sensors-21-03682
                10.3390/s21113682
                8198336
                34070608
                7fb66e0d-936e-4bb5-a4aa-41f66cb3287c
                © 2021 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( https://creativecommons.org/licenses/by/4.0/).

                History
                : 07 April 2021
                : 21 May 2021
                Categories
                Article

                Biomedical engineering
                immersive vr interaction,haptic open glove,rotary position sensor,mms filter,hand motion capture,human computer interaction

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