This project presents a novel Encountered-type Haptic Display (ETHD) that provides thermal feedback, enhancing user immersion and haptic experience in VR. Our ETHD integrates temperature feedback through a dynamically moving surface attached to a robotic arm, significantly improving both immersion and haptic experience.
Clone this repository to your local machine.
git clone https://github.com/KIshiharaHCI/RoboHapticsLoad the project in Unity version 2023.2.3f1.
Setup the hardware as follows:
- Use an HTC Vive Pro Eye with tracking stations set up.
- Mount an Ultraleap Leap Motion Controller 2 on the headset.
- Strap the controller on your arm.
- Use a VR ready laptop.
Connect to the cobot:
- Use a Kinova Gen3 6 dof Serial Cobot.
- Connect to the cobot locally via network and verify the connection through the online Kinova interface.
Calibrate the robot position and VR scene position of the XR rig to match the VR scene positions.
Play the scene in Unity to start the application.
- Unity Version 2023.2.3f1
- Cobity Plugin: Cobity, developed by Steeven Villa and Sven Mayer.
- https://assetstore.unity.com/packages/tools/integration/steamvr-plugin-32647
- https://assetstore.unity.com/packages/tools/integration/ardity-arduino-unity-communication-made-easy-123819
- https://assetstore.unity.com/packages/3d/props/interior/free-kitchen-cabinets-and-equipment-245554
- https://assetstore.unity.com/packages/3d/props/coffeeshop-starter-pack-160914
- https://assetstore.unity.com/packages/3d/props/food-and-kitchen-props-pack-85050
- https://assetstore.unity.com/packages/3d/vehicles/space/hi-rez-spaceships-creator-free-sample-153363
- https://assetstore.unity.com/packages/3d/environments/morgue-room-pbr-65817
- https://assetstore.unity.com/packages/tools/physics/vr-buttons-and-levers-66520
- https://assetstore.unity.com/packages/essentials/unity-samples-ui-25468
For questions or support, please contact k.ishihara@campus.lmu.de.