Spatially coaligned visuo-haptic virtual reality rig with motion tracking
The rig consists of four 3 DOF custom-made haptic robotic arms. Each arm is connected to a passive thimble-gimbal providing the point of haptic contact for the user. There are two points of contact per hand.
The visual and haptic workspaces are spatially coaligned using a Vicon motion tracking system.
The rig allows high fidelity visual and haptic virtual reality.
4 Vero motion tracking cameras (Vicon). Oculus Rift S VR HMD. 4 custom haptic devices with 3 DOF positional sensing and force feedback. All components rigidly tethered to a custom rig, where the computers communicate over UDP.