ABSTRACT
This chapter introduces the notion of passive dynamic haptic interaction with video and describes the computation of force due to relative motion between an object in a video and the haptic interface point (HIP) of a user, given associated pixel-based depth data. While the concept of haptic video, that is, haptic rendering of forces due to geometry and texture of objects in a video from the associated depth data, has already been proposed, passive dynamic haptic interaction with video has not been studied before. It is proposed that in passive dynamic interaction, a user experiences motion of a video object and dynamic forces due to its movement, 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 acquired by the encoders of the haptic device. Mass values are assigned to the video object and HIP such that user interaction shall not alter the motion of the video object according to the laws of physics. Then, the dynamic force is computed by using Newton’s second law. Finally, it is scaled 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 the difference in rendered forces with and without including the dynamics.
