HaptWarp: Implementation of Bend, Twist, and Press Manipulations for Intuitive Interaction in between the Virtual and Physical World

In virtual reality applications, such as games and training, the use of two-handed controllers to interact with virtual objects is usually supported. To reproduce the interactive sensation of holding objects of various shapes and behaviors with both hands, previous researchers have used mechanical connections or set various peripheral brakes between controllers to simulate physical changes. However, these external devices are hard to quickly adapt to for the simulation of dynamic objects, nor can they be removed to support free manipulations. This research introduces Deformation Response virtual reality Glove, which is a pair of sensor gloves. There is no physical link and users can stretch, bend, or twist flexible materials and display physical deformations on virtual objects, allowing users to perceive the difference between haptic sensation and physical sensation simply by using their hands.