Haptic videoda bağıl hareket kaynaklı dinamik kuvvet

This thesis presents a new approach for haptic interaction with video and associated pixel-based depth data, including rendering of dynamic force due to relative motion between an object in a video and the haptic interface point (HIP) of the user. While the concept of haptic video, that is, haptic rendering of forces due to geometry and texture of objects in a video, has already been proposed, haptic rendering of force due to relative motion between a video object and the HIP has not been studied. We propose that the force experienced by a user should vary according to the movement of a video object relative to the HIP, even though the content of the video shall not be altered by this interaction. To this effect, the acceleration of a video object is estimated using video motion estimation techniques, while the acceleration of the HIP is estimated from the HIP position data provided by the haptic device. We assign mass values to the object and the HIP such that the maximum force rendered will be in the range that can be displayed by the haptic device. Then, the dynamic force due to the relative motion is computed by using Newton?s second law and displayed to the user through the haptic device in addition to the static forces due to the geometry and texture of the object. Experimental results are provided to demonstrate haptic rendering of forces calculated with and without including dynamic forces.