Hybrid reality interactive system based on passive tactile feedback

Abstract

The present invention provides a low cost solution for a hybrid reality interaction system with passive haptic feedback, using a humanoid robot as the trunk of virtual human, using realistic facial models to create virtual images, and the virtual image is superposed on the head of the humanoid robot accurately. The virtual image enhances the facial details of the humanoid robot, enhances the appearance of the robot, and interacts with the user by such a virtual and real image. Compared with the virtual image of the trunk-less human, the virtual image provides the user with passive tactile force feedback, greatly enhances the reality of the virtual human, and enhances the interactive experience of the virtual human system. At the same time, compared with the virtual human 'U-Tsu-Shi-O-Mi' with power feedback, the invention does not use the special hardware tracking device, uses the tracking mode based on three-dimensional marker points to track the position of the registered virtual image, and utilizes the RGB camera to realize the fusion of the virtual image and the real image, thus saving the tracking cost.

Description

technical field [0001] The invention belongs to the field of virtual human applications such as accompanying robots, interactive skill training, and psychological relief, and in particular relates to a mixed reality interactive system with passive tactile feedback. Background technique [0002] At present, most virtual human systems do not have passive force feedback, and the virtual human U-Tsu-Shi-O-Mi on the market is one of the few virtual human systems with passive force feedback. The U-Tsu-Shi-O-Mi virtual human system uses button green technology to superimpose the virtual image on the green-skinned humanoid robot, and uses the optical tracker fixed on the helmet display to track the position of the user relative to the humanoid robot, thereby Adjust the angle at which the avatar appears in the HMD, and use the joint tracker to track the humanoid form to change the form of the avatar. U-Tsu-Shi-O-Mi's way to achieve augmented reality effects is divided into two parts...

AI Technical Summary

Problems solved by technology

U-Tsu-Shi-O-Mi's way to achieve augmented reality effects is divided into two parts: buckle green and user head position tracking, but the virtual and real fusion effect of this solution is not good, and there is a clear dividing line between the edge of the virtual image and the real scene ; Need to use a large number of sensors, trackers and other hardware devices to assist in the calculation of the relative position and machine shape of the robot and the user, and the cost is relatively high

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