Haptic supported mixed reality simulation environment development

Visuo-Haptic Mixed Reality (VHMR) adds virtual objects to a real scene and creates a perception of force by means of a haptic device, allowing users to see virtual scenes superimposed on the real world. Most studies with kinaesthetic feedback use general-purpose haptic devices, which require the user to continuously hold an attached stylus. This approach constrains users by the mechanical limits of the device, even when it is not needed. It reduces simulation realism, as well. In this study, a new VHMR system has been developed in the concept of an encountered-type haptic device (ETHD), consisting of a precision hexapod positioner and a six-axis force / torque transducer. The main contribution is that the creation of a simulation environment where users can interact with virtual objects by working with unbound real-life tools. The haptic end-effector of the ETHD constantly stays right under the surface of the virtual object, following the user-held tool to engage only during an interaction. The haptic tip and the unbound real-life tool merge during interaction, creating a visual and force perception. The combination of the haptic tip and the user tool merely combines during interaction with the virtual object, creating visual and tactile feedback. Within the scope of the study, prototype development was completed, and verification tests of system synchronization measurement, haptic, visual and instrument tracking systems were performed. Simulation system prototype is development and verification experiments have been evaluated. Verification and user tests of system synchronization, haptic, visual and tool tracking systems have been performed. With these experiments, it was confirmed that the tool tip was followed with an error of less than 1 mm, the haptic force accuracy and repeatability was less than 0.2 N, and the end-to-end synchronization error of the system was less than 0.2 mm. Beside the objective user experiments, subjective evaluations were also made. In this direction, users made evaluations on the survey about scoring and simulation realism. In the analysis of the subjective data obtained, it was concluded that the users found the system realistic.