Purpose Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems used in different surgical applications, control architectures operating room set‐ups, but often still based on the adaptation of industrial robots. Space consumption, safety adequacy robots unstructured crowded environment an close human robot interaction are at least questionable. The purpose this paper is to describe DLR MIRO, a new lightweight for applications....

How does the appearance of a virtual hand affect own-body perception? Previous studies have compared either two or three models at time, with their appearances limited to realistic hands and abstract simple objects. To investigate effects different realisms, render styles, sensitivities pain on illusion (VHI), we conduct in which participants take controllable six distinct appearances. We collect questionnaire data comments regarding responses impacts threats assess differences strength VHI.

Abstract The human hand is a complex biological system able to perform numerous tasks with impressive accuracy and dexterity. Gestures furthermore play an important role in our daily interactions, humans are particularly skilled at perceiving interpreting detailed signals communications. Creating believable motions for virtual characters challenging task. Many new methods have been proposed the Computer Graphics community within last years, significant progress has made towards creating...

We detail the design, implementation, and an initial evaluation of a virtual reality education entertainment (edutainment) application called Virtual Environment Interactions (VEnvI). VEnvI is in which students learn computer science concepts through process choreographing movement for character using fun intuitive interface. In this exploratory study, 54 participants as part summer camp geared towards promoting participation women engineering programmatically crafted dance performance...

Most commercial virtual reality applications with self avatars provide users a "one-size fits all" avatar. While the height of this body may be scaled to user's height, other proportions, such as limb length and hand size, are rarely customized fit an individual user. Prior research has shown that mismatches between users' their actual bodies can affect size perception feelings ownership. In paper, we consider how concepts related illusion, user experience, task efficiency influenced by...

Virtual characters are much in demand for animated movies, games, and other applications. Rapid advances performance capture advanced rendering techniques have allowed the movie industry particular to create that appear very human-like. However, with these new capabilities has come realization such yet not quite “right.” One possible hypothesis is virtual humans fall into an “Uncanny Valley”, where viewer's emotional response repulsion or rejection, rather than empathy engagement their...

Hand tracking and haptics are gaining more importance as key technologies of virtual reality (VR) systems. For designing such systems, it is fundamental to understand how the appearance hands influences user experience human brain integrates vision haptics. However, currently unknown whether multi-sensory integration visual haptic feedback can be influenced by in VR. We performed a study VR gain insight into effect hand on combines signals using cue-conflict paradigm. In this paper, we show...

We present an empirical evaluation of immersion and self-avatars as compared to desktop viewing in Virtual Reality (VR) for learning computer programming computational thinking middle school education using educational VR simulation. Students were asked programmatically choreograph dance performances virtual characters within application we built earlier called Environment Interactions (VEnvI). As part a science class, 90 students from the 6th 7th grades participated our study. All first...

Virtual reality (VR) has increasingly become a popular platform for socializing and collaborating remotely because it enables both verbal nonverbal aspects of communication through the use embodied avatars. However, such avatars are not typically adjusted to match proportions user, leading inaccuracies which might diminish experiences involving communication. Therefore, in this paper, we investigated impact that out-of-proportion avatar hands (relative user's hands) have on collaboration VR....

Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost care can be met if these employable in a flexible manner large variety procedures. To protect the initial investment capabilities robotic system need to expandable as new tasks arise. oblige needs future support hospitals, German Aerospace Center (DLR) has developed versatile MiroSurge medical applications. This paper presents 3 DoF instrument Minimally Invasive Surgery which is mounted...

Capturing the body movements of actors to create animations for movies, games, and VR applications has become standard practice, but finger motions are usually added manually as a tedious post-processing step. In this paper, we present surprisingly simple method automate step gesturing conversing characters. controlled environment, carefully captured post-processed from multiple actors. To augment virtual characters with plausible detailed movements, our selects motion segments resulting...

In this work, we investigate the influence of different visualizations on a manipulation task in virtual reality (VR). Without haptic feedback real world, grasping VR might result intersections with objects. As people are highly sensitive when it comes to perceiving collisions, look more appealing avoid and visualize non-colliding hand motions. However, correcting position or fingers results visual-proprioceptive discrepancy must be used caution. Furthermore, lack world slower actions as...

The gaze behavior of virtual avatars is critical to social presence and perceived eye contact during interactions in Virtual Reality. Reality headsets are being designed with integrated tracking enable compelling interactions. This paper shows that the near infra-red cameras used capture images contain iris patterns user. Because a gold standard biometric, current technology places user's biometric identity at risk. Our first contribution an optical defocus based hardware solution remove...

In order to analyze the emotional content of motions portrayed by different characters, we created real and virtual replicas an actor exhibiting six basic emotions: sadness, happiness, surprise, fear, anger disgust. addition video actor, his actions were applied five body shapes: a low high resolution counterpart, cartoon-like character, wooden mannequin, zombie-like character (Figure 1). Participants asked rate based on list 41 more complex emotions. We found that perception is highly...

In order to analyze the emotional content of motions portrayed by different characters, we created real and virtual replicas an actor exhibiting six basic emotions: sadness, happiness, surprise, fear, anger, disgust. addition video actor, his actions were applied five body shapes: a low- high-resolution counterpart, cartoon-like character, wooden mannequin, zombie-like character (Figures 1 2). point light condition, also tested whether absence affected perceived emotion movements....

n this paper, we introduce an embodied pedagogical approach for learning computational concepts, utilizing practices, and developing perspectives. During a five-week pilot, group of students spent after-school time the basic elements dance then using them to program three-dimensional characters that could perform. Throughout found consistently standing up in front their computers bodies think through actuation characters. Preliminary results suggest designing virtual-physical performance is...

In an initial study, we characterized the properties of human reach motion in presence or absence visuo-haptic feedback real and Immersive Virtual Environments (IVEs) virtual reality within a participant’s maximum arm reach. Our goal is to understand how physical reaching actions perceived location targets are different between viewing conditions. Typically, participants objects three-dimensional (3D) environment perform selection manipulation during 3D interaction applications such as...

A convolution-filtering technique is introduced for the synthesis of eye gaze data. Its purpose to produce, in a controlled manner, synthetic stream raw position coordinates, suitable for: (1) testing event detection filters, and (2) rendering movement animations tracking estimation algorithms. Synthetic data parameterized by sampling rate, microsaccadic jitter, simulated measurement error. Sampled compared against real captured an tracker showing similar signal characteristics.

This paper introduces a method for producing high quality hand motion using small number of markers. The proposed "handover" animation technique constructs joint angle trajectories with the help reference database. Utilizing principle component analysis (PCA) applied to database, system automatically determines sparse marker set record. Further, produce animation, PCA is used along locally weighted regression (LWR) model reconstruct angles. resulting full-resolution which reflects original...

The ability to select or customize characters in educational applications and games has been shown influence factors related learning effects such as transfer, self-efficacy, motivation. Most previous conclusions on the perception of virtual effect character assignment interactive have reached through short, one-task experiments. To investigate more long-term assigning versus customizing well explore perceptions personal appearance, we conduct a study which sixth seventh grade students are...

Over the past 7 years, we pioneered development of a program blending dance choreography, computer programming, and virtual environment to teach computational thinking, broadening pathways for more diverse students. We investigated ways in which upper elementary middle school students creating performances characters utilize embodied thinking engage with concepts, practices, perspectives. Through quantitative qualitative data analysis from five research contexts, found that (a) students’...

In this paper, our aim is to determine factors that influence the perceived sex of virtual characters. Experiment 1, four different model types were used: highly realistic male and female models, an androgynous character, a point light walker. Three motion applied all models: captured walks, neutral synthetic walks. We found both form perception for these characters: motions, determines sex, whereas natural affects forms. These results indicate use walks better than creating ambiguity by...

In this paper, we explore the perception of finger motions virtual characters. three experiments, designed to investigate animations, asked following questions: When are errors in motion noticeable? What consequences these errors? animation method should recommend? We found that synchronization as little 0.1s can be detected, but perceptibility is highly dependent on type motion. Errors animations change interpretation a scene even without altering its perceived quality. Finally, out four...

Digital games with realistic virtual characters have become very popular. The ability for players to promptly control their character is a crucial feature of these types games, be it platform first-person shooters, or role-playing games. Delays in the responsiveness player's character, example due extensive AI calculations network latencies, can considerably reduce enjoyment game. In this paper, we present thorough analysis consequences such delays on players' experience across two different...