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that they are perceived by the user to be fully present in the real workspace environment. The virtual sensory overlays can also be abstractions that have properties not possible of real physical structures. The concept of sensory overlays is difficult to visualize and talk about, as a consequence the virtual fixture metaphor was introduced. To understand what a virtual fixture is an analogy with a real physical fixture such as a ruler is often used. A simple task such as drawing a straight line on a piece of paper free-hand is a task that most humans are unable to perform with good accuracy and high speed. However, the use of a simple device such as a ruler allows the task to be carried out quickly and with good accuracy. The use of a ruler helps the user by guiding the pen along the ruler reducing the tremor and mental load of the user, thus increasing the quality of the results.
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user, a unique optics configuration was employed that involved a pair of binocular magnifiers aligned so that the user's view of the robot arms were brought forward so as to appear registered in the exact location of the user's real physical arms. The result was a spatially-registered immersive experience in which the user moved his or her arms, while seeing robot arms in the place where his or her arms should be. The system also employed computer-generated virtual overlays in the form of simulated physical barriers, fields, and guides, designed to assist in the user while performing real physical tasks.
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overlay virtual content upon the surgeon's direct perception of the real workspace with sufficient realism that it would be perceived as authentic additions to the surgical environment and thereby enhance surgical skill, dexterity, and performance. A proposed benefit of virtual medical fixtures as compared to real hardware was that because they were virtual additions to the ambient reality, they could be partially submerged within real patients, providing guidance and/or barriers within unexposed tissues.
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However, in the context of human-machine collaborative systems, the term virtual fixtures is often used to refer to a task dependent virtual aid that is overlaid upon a real environment and guides the user's motion along desired directions while preventing motion in undesired directions or regions of the workspace.
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setting where the operator has to drive a vehicle at a remote site to accomplish an objective. If there are pits at the remote site which would be harmful for the vehicle to fall into forbidden regions could be defined at the various pits locations, thus preventing the operator from issuing commands
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The concept of virtual fixtures was first introduced as an overlay of virtual sensory information on a workspace in order to improve human performance in direct and remotely manipulated tasks. The virtual sensory overlays can be presented as physically realistic structures, registered in space such
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The definition of virtual fixtures is much broader than simply providing guidance of the end-effector. For example, auditory virtual fixtures are used to increase the user awareness by providing audio clues that helps the user by providing multi modal cues for localization of the end-effector.
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When the
Virtual Fixture concept was proposed to the U.S. Air Force in 1991, augmented surgery was an example use case, expanding the idea from a virtual ruler guiding a real pencil, to a virtual medical fixture guiding a real physical scalpel manipulated by a real surgeon. The objective was to
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system ever built. Because 3D graphics were too slow in the early 1990s to present a photorealistic and spatially-registered augmented reality, Virtual
Fixtures used two real physical robots, controlled by a full upper-body exoskeleton worn by the user. To create the immersive experience for the
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performance testing was conducted on batteries of human test subjects, demonstrating for the first time, that a significant enhancement in human performance of real-world dexterous tasks could be achieved by providing immersive augmented reality overlays to users.
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1291:{\displaystyle {\begin{aligned}{\textrm {Span}}(\mathbf {D} )&\equiv \left=\mathbf {D} (\mathbf {D} ^{T}\mathbf {D} )^{-1}\mathbf {D} ^{T}\\{\textrm {Kernel}}(\mathbf {D} )&\equiv \langle \mathbf {D} \rangle =\mathbf {I} -\left\end{aligned}}}
1618:{\displaystyle \mathbf {v} _{\textrm {D}}\equiv \left\mathbf {v} _{\textrm {op}}{\textrm {~and~}}\mathbf {v} _{\tau }\equiv \mathbf {v} _{\textrm {op}}-\mathbf {v} _{\textrm {D}}=\langle \mathbf {D} \rangle \mathbf {v} _{\textrm {op}}}
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before feeding it to the robot controller. If the input from the user is of another form such as a force or position it must first be transformed to an input velocity, by for example scaling or differentiating.
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and all other elements to zero would result in a system that only permits translational motion and not rotation. This would be an example of a hard virtual fixture that constrains the motion from
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1863:{\displaystyle \mathbf {v} =c\left(\mathbf {v} _{\textrm {D}}+c_{\tau }\cdot \mathbf {v} _{\tau }\right)=c\left(\left+c_{\tau }\langle \mathbf {D} \rangle \right)\mathbf {v} _{\textrm {op}}}
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The stiffness of a virtual fixture can be soft or hard. A hard fixture completely constrains the motion to the fixture while a softer fixture allows some deviations from the fixture.
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does not have full column rank the span can not be computed, consequently it is better to compute the span by using the pseudo-inverse, thus in practice the span is computed as:
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This section describes how a control law that implements virtual fixtures can be derived. It is assumed that the robot is a purely kinematic device with end-effector position
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917:. If the rest of the elements on the diagonal were set to a small value, instead of zero, the fixture would be soft, allowing some motion in the rotational directions.
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is an overlay of augmented sensory information upon a user's perception of a real environment in order to improve human performance in both direct and
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Rosenberg, Louis B. (1993). Kim, Won S. (ed.). "Virtual fixtures as tools to enhance operator performance in telepresence environments".
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Next introduce a new compliance that affects only the non-preferred component of the velocity input and write the final control law as:
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Rosenberg, L. (1993). Kim, Won S. (ed.). "Virtual fixtures as tools to enhance operator performance in telepresence environments".
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1418:{\displaystyle {\textrm {Span}}(\mathbf {D} )\equiv \left=\mathbf {D} (\mathbf {D} ^{T}\mathbf {D} )^{\dagger }\mathbf {D} ^{T}}
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1712:{\displaystyle \mathbf {v} =c\cdot \mathbf {v} _{\textrm {op}}=c\left(\mathbf {v} _{\textrm {D}}+\mathbf {v} _{\tau }\right)}
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2924:
2603:; Hager, G.D. (2003). "Spatial motion constraints: theory and demonstrations for robot guidance using virtual fixtures".
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1894:. Lecture Notes in Networks and Systems. Vol. 358. Cham: Springer International Publishing. pp. 1–11.
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Virtual fixtures: Used to enhance operator performance in the telerobotic control of Fitt's Law peg-board task.
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1936:"The Use of Virtual Fixtures As Perceptual Overlays to Enhance Operator Performance in Remote Environments"
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2001:
Proceedings of the ASME Winter Annual
Meeting on Advances in Robotics, Mechatronics, and Haptic Interfaces
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2714:
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Rosenberg (1994). Das, Hari (ed.). "Virtual Haptic
Overlays Enhance Performance in Telepresence Tasks".
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2142:. Springer Tracts in Advanced Robotics. Vol. 28. Berlin, Heidelberg: Springer. pp. 49–64.
1999:
Rosenberg, Louis (1993). "The use of virtual fixtures to enhance telemanipulation with time delay".
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An example of a guiding virtual fixture could be when the vehicle must follow a certain trajectory,
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Such illegal commands could easily be sent by an operator because of, for instance, delays in the
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562:. In a tele-operated system it is often useful to scale the input velocity from the operator,
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2297:"Augmented reality environment with virtual fixtures for robotic telemanipulation in space"
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2025:"The use of virtual fixtures to enhance operator performance in time delayed teleoperation"
1966:
Rosenberg, L.B. (1993). "Virtual fixtures: Perceptual tools for telerobotic manipulation".
277:, of the fixture can be adjusted. If the compliance is high (low stiffness) the fixture is
2252:"Registration of planar virtual fixtures by using augmented reality with dynamic textures"
8:
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2006 14th
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
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Virtual
Fixtures used for Augmented Reality Surgery, enables enhanced surgical dexterity.
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Overlay of augmented sensory information upon a user's perception of a real environment
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2512:"Control methods for guidance virtual fixtures in compliant human-machine interfaces"
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Xia, Tian; LĂ©onard, Simon; Deguet, Anton; Whitcomb, Louis; Kazanzides, Peter (2012).
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2561:"Effect of Hand Dynamics on Virtual Fixtures for Compliant Human-Machine Interfaces"
2386:"The Use of Virtual Fixtures as Perceptual Overlays to Enhance Operator Performance"
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281:. On the other hand, when the compliance is zero (maximum stiffness) the fixture is
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two projection operators can be defined, the span and kernel of the column space:
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it is possible to adjust the compliance independently for different dimensions of
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2003 IEEE International
Conference on Robotics and Automation (Cat. No.03CH37422)
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2003 IEEE International
Conference on Robotics and Automation (Cat. No.03CH37422)
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there exists a one-to-one mapping between the operator and the slave robot.
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Virtual
Fixtures was first developed by Louis Rosenberg in 1992 at the USAF
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The
International Journal of Medical Robotics and Computer Assisted Surgery
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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
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220:. A forbidden regions virtual fixture could be used, for example, in a
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Proceedings of the Future Technologies Conference (FTC) 2021, Volume 1
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2404:"Augmented reality and haptic interfaces for robot-assisted surgery"
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2015 IEEE International Conference on Robotics and Automation (ICRA)
35:
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2138:. In Thrun, Sebastian; Brooks, Rodney; Durrant-Whyte, Hugh (eds.).
801:. For example, setting the first three elements on the diagonal of
2388:
Stanford University, Stanford CA, Center for Design Research (CDR)
1968:
Proceedings of IEEE Virtual Reality Annual International Symposium
986:{\displaystyle \mathbf {D} (t)\in \mathbb {R} ^{6\times n},~n\in }
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To express more general constraints assume a time-varying matrix
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690:{\displaystyle \mathbf {u} =c\cdot \mathbf {v} _{\textrm {op}}}
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to the robot is assumed to be a desired end-effector velocity
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tasks. Developed in the early 1990s by Louis Rosenberg at the
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With both forbidden regions and guiding virtual fixtures the
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The operator is then able to control the progress along the
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would give preferred directions that span a surface. From
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that would result in the vehicle ending up in such a pit.
2469:. Vol. 2. Taipei, Taiwan: IEEE. pp. 2798–2805.
2136:"Haptic Virtual Fixtures for Robot-Assisted Manipulation"
2294:
555:{\displaystyle \mathbf {v} ={\dot {\mathbf {x} }}=\left}
1481:
If the input velocity is split into two components as:
1945:. Wright-Patterson AFB OH: USAF Armstrong Laboratory.
2129:
2091:. Telemanipulator Technology and Space Telerobotics.
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would be computed from the operator's input velocity
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2463:"Virtual fixture architectures for telemanipulation"
2398:Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung;
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2209:Makhataeva, Zhanat; Varol, Huseyin Atakan (2020).
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993:which represents the preferred direction at time
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1916:
1888:"Augmented Reality: Reflections at Thirty Years"
910:{\displaystyle \mathbf {p} \in \mathbb {R} ^{3}}
873:{\displaystyle \mathbf {x} \in \mathbb {R} ^{6}}
144:, Virtual Fixtures was a pioneering platform in
2567:. Alexandria, VA, USA: IEEE. pp. 109–115.
2208:
1933:
2258:. Seattle, WA, USA: IEEE. pp. 4418–4423.
2011:
1956:
1627:it is possible to rewrite the control law as:
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232:Example of a forbidden regions virtual fixture
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2176:Telemanipulator and Telepresence Technologies
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1039:the preferred direction is along a curve in
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643:{\displaystyle \mathbf {v} _{\textrm {op}}}
586:{\displaystyle \mathbf {v} _{\textrm {op}}}
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2211:"Augmented Reality for Robotics: A Review"
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142:U.S. Air Force Research Laboratory (AFRL)
120:Learn how and when to remove this message
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1449:{\displaystyle \mathbf {D} ^{\dagger }}
14:
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2506:Marayong, Panadda; Hager, Gregory D.;
56:Please improve this article by adding
3326:Software related to augmented reality
2873:Simultaneous localization and mapping
2636:
794:{\displaystyle {\dot {\mathbf {x} }}}
2402:; Judkins, Timothy N. (2011-11-08).
2169:
2167:
2130:Abbott, Jake J.; Marayong, Panadda;
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428:expressed in the robot's base frame
254:Example of a guiding virtual fixture
29:
2925:Omnidirectional (360-degree) camera
2045:from the original on July 10, 2019.
1952:from the original on July 10, 2019.
164:, resulting in the first immersive
24:
2899:Image-based modeling and rendering
421:{\displaystyle \mathbf {r} =\left}
344:{\displaystyle \mathbf {p} =\left}
218:forbidden regions virtual fixtures
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244:or a number of other reasons.
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3341:Vuforia Augmented Reality SDK
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351:and end-effector orientation
58:secondary or tertiary sources
3377:List of PlayStation VR games
2770:Virtual reality applications
2607:. IEEE. pp. 1270–1275.
2056:Noer, Michael (1998-09-21).
1886:Rosenberg, Louis B. (2022).
1471:{\displaystyle \mathbf {D} }
1315:{\displaystyle \mathbf {D} }
1109:{\displaystyle \mathbf {D} }
816:{\displaystyle \mathbf {C} }
763:{\displaystyle \mathbf {C} }
612:{\displaystyle \mathbf {u} }
472:{\displaystyle \mathbf {u} }
7:
2573:10.1109/HAPTIC.2006.1627075
2555:Marayong, P.; Hager, G.D.;
2148:10.1007/978-3-540-48113-3_5
2089:SPIE Manipulator Technology
1943:Technical Report AL-TR-0089
1900:10.1007/978-3-030-89906-6_1
457:. The input control signal
297:Virtual fixture control law
10:
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2735:Projection augmented model
2613:10.1109/robot.2003.1241880
2475:10.1109/ROBOT.2003.1242016
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3372:List of Oculus Rift games
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2951:Omnidirectional treadmill
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2920:Free viewpoint television
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2889:Asynchronous reprojection
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2725:On-set virtual production
2710:Computer-mediated reality
2705:Cinematic virtual reality
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2524:10.1109/IROS.2008.4650838
2384:Rosenberg, L. B. (1992).
2311:10.1109/IROS.2012.6386169
2264:10.1109/ICRA.2015.7139810
2023:Rosenberg, Louis (1993).
2007:. New Orleans, LA: 29–36.
1976:10.1109/vrais.1993.380795
3367:List of Meta Quest games
2775:Virtual reality sickness
1970:. IEEE. pp. 76–82.
1934:L. B. Rosenberg (1992).
1890:. In Arai, Kohei (ed.).
597:Thus the control signal
214:guiding virtual fixtures
2842:Virtual retinal display
2830:Virtual reality headset
2250:Leonard, Simon (2015).
2228:10.3390/robotics9020021
264:non-preferred direction
262:while motion along the
3362:List of HTC Vive games
2755:Six degrees of freedom
2518:. pp. 1166–1172.
2305:. pp. 5059–5064.
2058:"Desktop fingerprints"
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3211:The Sword of Damocles
3113:Windows Mixed Reality
2750:Simulation hypothesis
2032:J. Dyn. Syst. Control
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138:remotely manipulated
3444:Telepresence robots
2508:Okamura, Allison M.
2400:Okamura, Allison M.
2356:1993SPIE.2057...10R
2132:Okamura, Allison M.
2101:1993SPIE.2057...10R
1087:{\displaystyle n=2}
1032:{\displaystyle n=1}
718:{\displaystyle c=1}
260:preferred direction
3071:Microsoft HoloLens
2894:Foveated rendering
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3039:Golden-i headsets
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2956:Wearable computer
2760:Spatial computing
2676:Augmented reality
2582:978-1-4244-0226-7
2533:978-1-4244-2057-5
2484:978-0-7803-7736-3
2364:10.1117/12.164901
2320:978-1-4673-1736-8
2273:978-1-4799-6923-4
2188:10.1117/12.197302
2157:978-3-540-48113-3
2140:Robotics Research
2109:10.1117/12.164901
1909:978-3-030-89906-6
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1006:{\displaystyle t}
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166:augmented reality
150:augmented reality
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69:"Virtual fixture"
16:(Redirected from
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3299:virtual graffiti
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3144:Google Cardboard
3034:Apple Vision Pro
3024:
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2991:PlayStation Move
2915:360-degree video
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2730:Persistent world
2664:Extended reality
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2650:
2643:
2634:
2633:
2627:
2626:
2596:
2587:
2586:
2552:
2546:
2545:
2503:
2497:
2496:
2454:
2448:
2447:
2395:
2389:
2382:
2376:
2375:
2339:
2333:
2332:
2292:
2286:
2285:
2247:
2241:
2240:
2230:
2206:
2200:
2199:
2171:
2162:
2161:
2127:
2121:
2120:
2084:
2075:
2074:
2072:
2070:
2053:
2047:
2046:
2044:
2029:
2020:
2009:
2008:
1996:
1990:
1989:
1963:
1954:
1953:
1951:
1940:
1931:
1914:
1913:
1883:
1869:
1867:
1866:
1861:
1859:
1858:
1857:
1854:
1851:
1845:
1841:
1837:
1829:
1828:
1816:
1812:
1792:
1788:
1787:
1786:
1781:
1772:
1771:
1759:
1758:
1757:
1754:
1751:
1734:
1718:
1716:
1715:
1710:
1708:
1704:
1703:
1702:
1697:
1688:
1687:
1686:
1683:
1680:
1663:
1662:
1661:
1658:
1655:
1640:
1624:
1622:
1621:
1616:
1614:
1613:
1612:
1609:
1606:
1597:
1586:
1585:
1584:
1581:
1578:
1569:
1568:
1567:
1564:
1561:
1552:
1551:
1546:
1540:
1539:
1536:
1533:
1532:
1531:
1528:
1525:
1519:
1515:
1503:
1502:
1501:
1498:
1495:
1477:
1475:
1474:
1469:
1467:
1455:
1453:
1452:
1447:
1445:
1444:
1439:
1424:
1422:
1421:
1416:
1414:
1413:
1408:
1402:
1401:
1392:
1387:
1386:
1381:
1372:
1364:
1360:
1345:
1337:
1336:
1333:
1321:
1319:
1318:
1313:
1311:
1297:
1295:
1294:
1289:
1287:
1283:
1279:
1267:
1256:
1238:
1230:
1229:
1226:
1219:
1218:
1213:
1207:
1206:
1194:
1189:
1188:
1183:
1174:
1166:
1162:
1143:
1135:
1134:
1131:
1115:
1113:
1112:
1107:
1105:
1093:
1091:
1090:
1085:
1067:
1065:
1064:
1059:
1057:
1056:
1051:
1038:
1036:
1035:
1030:
1012:
1010:
1009:
1004:
992:
990:
989:
984:
965:
961:
960:
949:
931:
916:
914:
913:
908:
906:
905:
900:
891:
879:
877:
876:
871:
869:
868:
863:
854:
842:
840:
839:
834:
822:
820:
819:
814:
812:
800:
798:
797:
792:
790:
789:
784:
779:
769:
767:
766:
761:
759:
747:
745:
744:
739:
728:If the constant
724:
722:
721:
716:
696:
694:
693:
688:
686:
685:
684:
681:
678:
663:
649:
647:
646:
641:
639:
638:
637:
634:
631:
618:
616:
615:
610:
608:
592:
590:
589:
584:
582:
581:
580:
577:
574:
561:
559:
558:
553:
551:
547:
546:
545:
540:
535:
529:
528:
523:
518:
507:
506:
501:
496:
490:
478:
476:
475:
470:
468:
456:
454:
453:
448:
446:
445:
444:
441:
427:
425:
424:
419:
417:
413:
412:
411:
410:
407:
397:
396:
395:
392:
382:
381:
380:
377:
362:
350:
348:
347:
342:
340:
336:
312:
266:is constrained.
125:
118:
114:
111:
105:
103:
62:
38:
30:
21:
3464:
3463:
3459:
3458:
3457:
3455:
3454:
3453:
3419:Virtual reality
3414:Robotic sensing
3399:
3398:
3397:
3388:
3350:
3306:Meta Horizon OS
3294:Interactive art
3261:
3240:
3226:Virtual fixture
3196:Samsung Gear VR
3149:Google Daydream
3117:
3098:PlayStation VR2
3015:
2960:
2934:
2903:
2877:
2863:Finger tracking
2846:
2820:Head-up display
2784:
2693:
2682:Virtual reality
2667:
2661:
2631:
2630:
2623:
2597:
2590:
2583:
2553:
2549:
2534:
2504:
2500:
2485:
2455:
2451:
2420:10.1002/rcs.421
2396:
2392:
2383:
2379:
2340:
2336:
2321:
2293:
2289:
2274:
2248:
2244:
2207:
2203:
2172:
2165:
2158:
2128:
2124:
2085:
2078:
2068:
2066:
2054:
2050:
2042:
2027:
2021:
2012:
1997:
1993:
1986:
1964:
1957:
1949:
1938:
1932:
1917:
1910:
1884:
1880:
1875:
1870:
1853:
1852:
1847:
1846:
1833:
1824:
1820:
1808:
1804:
1803:
1799:
1782:
1777:
1776:
1767:
1763:
1753:
1752:
1747:
1746:
1745:
1741:
1730:
1728:
1725:
1724:
1719:
1698:
1693:
1692:
1682:
1681:
1676:
1675:
1674:
1670:
1657:
1656:
1651:
1650:
1636:
1634:
1631:
1630:
1625:
1608:
1607:
1602:
1601:
1593:
1580:
1579:
1574:
1573:
1563:
1562:
1557:
1556:
1547:
1542:
1541:
1535:
1534:
1527:
1526:
1521:
1520:
1511:
1507:
1497:
1496:
1491:
1490:
1488:
1485:
1484:
1463:
1461:
1458:
1457:
1440:
1435:
1434:
1432:
1429:
1428:
1425:
1409:
1404:
1403:
1397:
1393:
1388:
1382:
1377:
1376:
1368:
1356:
1352:
1341:
1332:
1331:
1329:
1326:
1325:
1307:
1305:
1302:
1301:
1298:
1285:
1284:
1275:
1271:
1263:
1252:
1242:
1234:
1225:
1224:
1221:
1220:
1214:
1209:
1208:
1199:
1195:
1190:
1184:
1179:
1178:
1170:
1158:
1154:
1147:
1139:
1130:
1129:
1125:
1123:
1120:
1119:
1101:
1099:
1096:
1095:
1073:
1070:
1069:
1052:
1047:
1046:
1044:
1041:
1040:
1018:
1015:
1014:
998:
995:
994:
950:
945:
944:
927:
925:
922:
921:
901:
896:
895:
887:
885:
882:
881:
864:
859:
858:
850:
848:
845:
844:
828:
825:
824:
808:
806:
803:
802:
780:
778:
777:
775:
772:
771:
755:
753:
750:
749:
733:
730:
729:
704:
701:
700:
697:
680:
679:
674:
673:
659:
657:
654:
653:
633:
632:
627:
626:
624:
621:
620:
604:
602:
599:
598:
576:
575:
570:
569:
567:
564:
563:
536:
534:
533:
519:
517:
516:
515:
511:
497:
495:
494:
486:
484:
481:
480:
464:
462:
459:
458:
440:
439:
435:
433:
430:
429:
406:
405:
401:
391:
390:
386:
376:
375:
371:
370:
366:
358:
356:
353:
352:
320:
316:
308:
306:
303:
302:
299:
182:
158:
146:virtual reality
134:virtual fixture
126:
115:
109:
106:
63:
61:
55:
51:primary sources
39:
28:
23:
22:
18:Virtual Fixture
15:
12:
11:
5:
3462:
3452:
3451:
3449:Remote sensing
3446:
3441:
3436:
3431:
3426:
3424:Control theory
3421:
3416:
3411:
3394:
3393:
3390:
3389:
3387:
3386:
3385:
3384:
3374:
3369:
3364:
3358:
3356:
3352:
3351:
3349:
3348:
3343:
3338:
3333:
3328:
3323:
3321:Pervasive game
3318:
3313:
3308:
3303:
3302:
3301:
3291:
3286:
3280:
3278:
3271:
3267:
3266:
3263:
3262:
3260:
3259:
3254:
3248:
3246:
3242:
3241:
3239:
3238:
3233:
3228:
3223:
3218:
3213:
3208:
3203:
3198:
3193:
3191:PlayStation VR
3188:
3187:
3186:
3181:
3171:
3166:
3161:
3156:
3151:
3146:
3141:
3136:
3131:
3125:
3123:
3119:
3118:
3116:
3115:
3110:
3105:
3100:
3095:
3090:
3085:
3080:
3079:
3078:
3068:
3063:
3062:
3061:
3051:
3046:
3041:
3036:
3030:
3028:
3021:
3017:
3016:
3014:
3013:
3008:
3003:
2998:
2993:
2988:
2983:
2978:
2972:
2970:
2966:
2965:
2962:
2961:
2959:
2958:
2953:
2948:
2942:
2940:
2936:
2935:
2933:
2932:
2930:VR photography
2927:
2922:
2917:
2911:
2909:
2905:
2904:
2902:
2901:
2896:
2891:
2885:
2883:
2879:
2878:
2876:
2875:
2870:
2865:
2860:
2854:
2852:
2851:3D interaction
2848:
2847:
2845:
2844:
2839:
2838:
2837:
2827:
2822:
2817:
2816:
2815:
2805:
2799:
2797:
2790:
2786:
2785:
2783:
2782:
2777:
2772:
2767:
2762:
2757:
2752:
2747:
2742:
2737:
2732:
2727:
2722:
2717:
2712:
2707:
2701:
2699:
2695:
2694:
2692:
2691:
2685:
2679:
2672:
2669:
2668:
2660:
2659:
2652:
2645:
2637:
2629:
2628:
2621:
2599:Marayong, P.;
2588:
2581:
2547:
2532:
2498:
2483:
2457:Abbott, J.J.;
2449:
2390:
2377:
2334:
2319:
2287:
2272:
2242:
2201:
2163:
2156:
2122:
2076:
2048:
2010:
1991:
1984:
1955:
1915:
1908:
1877:
1876:
1874:
1871:
1850:
1844:
1840:
1836:
1832:
1827:
1823:
1819:
1815:
1811:
1807:
1802:
1798:
1795:
1791:
1785:
1780:
1775:
1770:
1766:
1762:
1750:
1744:
1740:
1737:
1733:
1723:
1707:
1701:
1696:
1691:
1679:
1673:
1669:
1666:
1654:
1649:
1646:
1643:
1639:
1629:
1605:
1600:
1596:
1592:
1589:
1577:
1572:
1560:
1555:
1550:
1545:
1524:
1518:
1514:
1510:
1506:
1494:
1483:
1466:
1443:
1438:
1412:
1407:
1400:
1396:
1391:
1385:
1380:
1375:
1371:
1367:
1363:
1359:
1355:
1351:
1348:
1344:
1340:
1324:
1310:
1282:
1278:
1274:
1270:
1266:
1262:
1259:
1255:
1251:
1248:
1245:
1243:
1241:
1237:
1233:
1223:
1222:
1217:
1212:
1205:
1202:
1198:
1193:
1187:
1182:
1177:
1173:
1169:
1165:
1161:
1157:
1153:
1150:
1148:
1146:
1142:
1138:
1128:
1127:
1118:
1104:
1083:
1080:
1077:
1055:
1050:
1028:
1025:
1022:
1002:
982:
979:
976:
973:
970:
964:
959:
956:
953:
948:
943:
940:
937:
934:
930:
904:
899:
894:
890:
867:
862:
857:
853:
832:
811:
787:
783:
758:
737:
714:
711:
708:
677:
672:
669:
666:
662:
652:
630:
607:
573:
550:
543:
539:
532:
526:
522:
514:
510:
504:
500:
493:
489:
467:
438:
416:
404:
400:
389:
385:
374:
369:
365:
361:
339:
335:
332:
329:
326:
323:
319:
315:
311:
298:
295:
181:
178:
162:Armstrong Labs
157:
154:
152:technologies.
128:
127:
42:
40:
33:
26:
9:
6:
4:
3:
2:
3461:
3450:
3447:
3445:
3442:
3440:
3437:
3435:
3434:Robot control
3432:
3430:
3427:
3425:
3422:
3420:
3417:
3415:
3412:
3410:
3407:
3406:
3404:
3383:
3380:
3379:
3378:
3375:
3373:
3370:
3368:
3365:
3363:
3360:
3359:
3357:
3353:
3347:
3344:
3342:
3339:
3337:
3334:
3332:
3329:
3327:
3324:
3322:
3319:
3317:
3314:
3312:
3309:
3307:
3304:
3300:
3297:
3296:
3295:
3292:
3290:
3287:
3285:
3282:
3281:
3279:
3275:
3272:
3268:
3258:
3255:
3253:
3250:
3249:
3247:
3243:
3237:
3234:
3232:
3229:
3227:
3224:
3222:
3219:
3217:
3216:VFX1 Headgear
3214:
3212:
3209:
3207:
3204:
3202:
3199:
3197:
3194:
3192:
3189:
3185:
3182:
3180:
3177:
3176:
3175:
3172:
3170:
3167:
3165:
3162:
3160:
3157:
3155:
3152:
3150:
3147:
3145:
3142:
3140:
3137:
3135:
3132:
3130:
3127:
3126:
3124:
3120:
3114:
3111:
3109:
3106:
3104:
3101:
3099:
3096:
3094:
3091:
3089:
3086:
3084:
3081:
3077:
3074:
3073:
3072:
3069:
3067:
3064:
3060:
3057:
3056:
3055:
3052:
3050:
3047:
3045:
3042:
3040:
3037:
3035:
3032:
3031:
3029:
3025:
3022:
3018:
3012:
3009:
3007:
3004:
3002:
2999:
2997:
2994:
2992:
2989:
2987:
2984:
2982:
2979:
2977:
2974:
2973:
2971:
2967:
2957:
2954:
2952:
2949:
2947:
2944:
2943:
2941:
2937:
2931:
2928:
2926:
2923:
2921:
2918:
2916:
2913:
2912:
2910:
2906:
2900:
2897:
2895:
2892:
2890:
2887:
2886:
2884:
2880:
2874:
2871:
2869:
2868:Pose tracking
2866:
2864:
2861:
2859:
2856:
2855:
2853:
2849:
2843:
2840:
2836:
2833:
2832:
2831:
2828:
2826:
2823:
2821:
2818:
2814:
2811:
2810:
2809:
2806:
2804:
2801:
2800:
2798:
2794:
2791:
2787:
2781:
2780:Virtual world
2778:
2776:
2773:
2771:
2768:
2766:
2763:
2761:
2758:
2756:
2753:
2751:
2748:
2746:
2743:
2741:
2738:
2736:
2733:
2731:
2728:
2726:
2723:
2721:
2718:
2716:
2713:
2711:
2708:
2706:
2703:
2702:
2700:
2696:
2689:
2688:Mixed reality
2686:
2683:
2680:
2677:
2674:
2673:
2670:
2665:
2658:
2653:
2651:
2646:
2644:
2639:
2638:
2635:
2624:
2622:0-7803-7736-2
2618:
2614:
2610:
2606:
2602:
2601:Okamura, A.M.
2595:
2593:
2584:
2578:
2574:
2570:
2566:
2562:
2558:
2557:Okamura, A.M.
2551:
2543:
2539:
2535:
2529:
2525:
2521:
2517:
2513:
2509:
2502:
2494:
2490:
2486:
2480:
2476:
2472:
2468:
2464:
2460:
2459:Okamura, A.M.
2453:
2445:
2441:
2437:
2433:
2429:
2425:
2421:
2417:
2413:
2409:
2405:
2401:
2394:
2387:
2381:
2373:
2369:
2365:
2361:
2357:
2353:
2349:
2345:
2338:
2330:
2326:
2322:
2316:
2312:
2308:
2304:
2303:
2298:
2291:
2283:
2279:
2275:
2269:
2265:
2261:
2257:
2253:
2246:
2238:
2234:
2229:
2224:
2220:
2216:
2212:
2205:
2197:
2193:
2189:
2185:
2181:
2177:
2170:
2168:
2159:
2153:
2149:
2145:
2141:
2137:
2133:
2126:
2118:
2114:
2110:
2106:
2102:
2098:
2094:
2090:
2083:
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110:December 2021
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71: –
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65:Find sources:
59:
53:
52:
48:
43:This article
41:
37:
32:
31:
19:
3252:Project Iris
3225:
3169:Oculus Quest
3159:Liquid Image
3154:Google Glass
3066:Meta Quest 3
3054:Meta Quest 2
3011:Wizdish ROVR
3001:Virtuix Omni
2986:Oculus Touch
2858:Eye tracking
2825:Smartglasses
2789:Technologies
2765:Telepresence
2604:
2564:
2550:
2515:
2501:
2466:
2452:
2414:(1): 45–56.
2411:
2407:
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2255:
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2067:. Retrieved
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242:telepresence
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107:
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90:
83:
76:
64:
44:
3429:Cybernetics
3221:Virtual Boy
3174:Oculus Rift
3108:Vuzix Blade
3103:Valve Index
3006:Wired glove
2996:Razer Hydra
2981:Leap Motion
2969:Peripherals
2946:Haptic suit
2908:Photography
240:loop, poor
3409:Perception
3403:Categories
3245:Unreleased
3231:Virtuality
3206:SixthSense
3049:Magic Leap
2745:Room-scale
2182:: 99–108.
1873:References
1013:. Thus if
275:compliance
80:newspapers
47:references
3289:ARToolKit
3201:Sensorama
3164:Oculus Go
2740:Real life
2720:Metaverse
2715:Immersion
2428:1478-5951
2372:111277519
2350:: 10–21.
2237:2218-6581
2221:(2): 21.
2196:110971407
2117:111277519
2038:: 29–36.
1839:⟩
1831:⟨
1826:τ
1784:τ
1774:⋅
1769:τ
1700:τ
1648:⋅
1599:⟩
1591:⟨
1571:−
1554:≡
1549:τ
1505:≡
1442:†
1399:†
1350:≡
1269:−
1258:⟩
1250:⟨
1247:≡
1201:−
1152:≡
972:∈
955:×
942:∈
893:∈
856:∈
786:˙
671:⋅
542:˙
525:˙
503:˙
271:stiffness
173:Fitts Law
3336:visionOS
3270:Software
3139:EyePhone
3044:HTC Vive
2882:Software
2698:Concepts
2559:(2006).
2510:(2008).
2461:(2003).
2436:22069247
2282:16744811
2215:Robotics
2134:(2007).
2069:22 April
2040:Archived
1947:Archived
3277:General
3257:Sega VR
3027:Current
3020:Devices
2813:optical
2796:Display
2542:6828466
2493:8678829
2444:1603125
2352:Bibcode
2329:2708501
2097:Bibcode
180:Concept
156:History
94:scholar
3316:OpenXR
3311:OpenVR
3284:ARCore
3184:Rift S
3134:castAR
3122:Former
3088:PICO 4
2803:EyeTap
2619:
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2095:: 10.
2063:Forbes
1982:
1906:
1427:where
1227:Kernel
966:
96:
89:
82:
75:
67:
3355:Games
3346:WebXR
3129:AntVR
3093:Pimax
2939:Other
2538:S2CID
2489:S2CID
2440:S2CID
2368:S2CID
2325:S2CID
2278:S2CID
2192:S2CID
2113:S2CID
2043:(PDF)
2028:(PDF)
1950:(PDF)
1939:(PDF)
1537:~and~
101:JSTOR
87:books
3236:VR-1
3083:OSVR
2835:list
2690:(MR)
2684:(VR)
2678:(AR)
2666:(XR)
2617:ISBN
2577:ISBN
2528:ISBN
2479:ISBN
2432:PMID
2424:ISSN
2348:2057
2315:ISBN
2268:ISBN
2233:ISSN
2180:2351
2152:ISBN
2093:2057
2071:2014
1980:ISBN
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1334:Span
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978:1..6
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650:as:
283:hard
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216:or
148:and
73:news
3382:VR2
3179:CV1
3059:Pro
2609:doi
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