Reducing Error Rates with Low-Cost Haptic Feedback
in Virtual Reality-Based Training Applications
Li Jiang*, Rohit Girotra*, Mark R. Cutkosky*, Chris Ullrich
(*)Department of Mechanical Engineering, Stanford University, USA
( ) Immersion Corporation, San Jose, USA
Email: lijiang, rgirotra, cutkosky@stanford.edu, cullrich@http://doc.xuehai.net
trainers will be responsive and realistic enough to help subjects learn important procedures. In these applications, subjects view the scenes using either the computer This paper reports on the effectiveness of haptic
feedbac in a low-cost virtual-reality training monitors or inexpensive head-mounted displays and environment for military and emergency personnel. impart motions and commands using joysticks, keyboards
and other commercial gaming devices. The selection of Subjects participated in simulated exercises for clearing
USB-compatible gaming devices with haptic feedback is a damaged building, implemented using a modified
steadily growing, which leads to the following questions: commercial videogame engine and USB-compatible force
xWhat roles can haptic feedback play in low-cost VR and vibration feedback devices. With the addition of
ktraining for military and emergency personnel? haptic feedback, subjects made fewer procedural errors
xHow can performance or learning rates be improved and completed some tasks more rapidly. Initially, best
with haptic feedback? results were obtained with vibration feedback. After
To shed light on these questions we undertook modifications to the collision detection and display
experiments involving the addition of haptic feedback in algorithm, force feedback produced equivalent results
a low-cost VR training scenario. We were particularly and was preferred by a majority of subjects.
interested in “building clearing” operations as practiced by military personnel in close-quarters combat and 1. Introduction
emergency personnel to evacuate hostages or earthquake victims. The challenges in such environments often There has been an increasing interest in virtual reality-include poor visibility, distracting noises (e.g. explosions) based training of procedures for military, police and
and a severe time pressure for planning and executing emergency personnel [1-6]. An encouraging result of
procedures. Haptic feedback provides a useful additional early studies [7,8] is that virtual reality environments
channel for information and communication. For need not be entirely realistic in order to provide useful
example, in some procedures personnel are trained to tap training that carries over to real situations. Most of the
the shoulder of a team-mate as part of the communication virtual reality-based training has focused on visual and
protocol for Close Quarter Battles (CQB) [21]. In real auditory feedback. Haptic feedback has been explored in
environments, of course, personnel also receive tactile a few cases [9-11] with promising results.
stimuli from all the objects that they contact – High-end “immersive” virtual reality systems may
intentionally or not. include wearable head-mounted displays or “cave” video
projection systems, three-dimensional motion tracking
and perhaps treadmills or harnesses for imparting 2. Experiment setup resistance to the motion of the subject. These systems are
The experiments were conducted using a dual-processor capable of kinesthetic as well as visual and audio
feedback [12-20]. Unfortunately, such systems are Windows desktop running a modified version of the Half-Life (v42/1.1.0.1) game engine that could generate expensive and can only train one or a few people at a
kinesthetic and tactile feedback as a result of the player’s time. This is particularly a drawback when substantial
groups of people should be trained together. actions in the virtual environment. A screenshot of the
running application is shown in Fig. 1. In addition to Consequently there has been an interest in low-cost VR
producing cues for haptic feedback, the modification environments, as found in multi-user videogames for
desktop computers. The hope is that with steady logged the player’s position, velocity, collision state and
“clip fraction,” a variable defined by the difference improvements in desktop technology, these low-cost VR
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