Dynamic Redirection for Safe Interaction with ETHD-Simulated Virtual Objects

and two experiments (b-d and e-g) conducted to evaluate our redirection strategy. The user taps a virtual disk and the ETHD carries a physical disk to provide haptic feedback. Images b-g are user frames from the VR headset, showing the virtual disk (red/green edge), and the virtual stick and user hand (blue). Here, the images also show the physical disk and user hand (brown), for illustration purposes. For experiment 1, by the time the physical stick hits the physical disk, the virtual stick slices through the virtual disk (b) with no redirection (NR), it enters the virtual disk (c) with static redirection (SR), and it stops correctly at the virtual disk's edge (d) with our dynamic redirection (DR). For experiment 2, the virtual disk is moving from left to right and the ETHD follows along; when the physical stick gets close to the physical disk, the ETHD stops, to enforce safety (e). For NR, the virtual disk stops as well (f ), and the user notices that it stopped early, before contact. For DR, the virtual disk continues to move and our redirection algorithm synchronizes the virtual and physical contacts (g).