Enforced telexistence: Teleoperating using photorealistic virtual body and haptic feedback

M. H D Yamen Saraiji, Charith Lasantha Fernando, Yusuke Mizushina, Youichi Kamiyama, Kouta Minamizawa, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Telexistence [Tachi 2010] systems require physical limbs for remote object manipulation [Fernando et al. 2012]. Having arms and hands synchronized with voluntary movements allows the user to feel robot's body as his body through visual, and haptic sensation. In this method, we introduce a novel technique that provides virtual arms for existing telexistence systems that does not have physical arms. Previous works [Mine et al. 1997; Poupyrev et al. 1998; Nedel et al. 2003] involved the study of using virtual representation of user hands in virtual environments for interactions. In this work, the virtual arms serves for several interactions in a physical remote environment, and most importantly they provide the user the sense of existence in that remote environment. These superimposed virtual arms follows the user's real-time arm movements and reacts to the dynamic lighting of real environment providing photorealistic rendering adapting to remote place lighting. Thus, it allows the user to have an experience of embodied enforcement towards the remote environment. Furthermore, these virtual arms can be extended to touch and feel unreachable remote objects, and to grab a functional virtual copy of a physical instance where device control is possible. This method does not only allow the user to experience a non-existing arm in telexistence, but also gives the ability to enforce remote environment in various ways.

Original languageEnglish
Title of host publicationSIGGRAPH Asia 2014 Emerging Technologies, SA 2014
PublisherAssociation for Computing Machinery, Inc
ISBN (Print)9781450319553
Publication statusPublished - 2014 Nov 24
EventSIGGRAPH Asia 2014 Emerging Technologies, SA 2014 - Shenzhen, China
Duration: 2014 Dec 32014 Dec 6


OtherSIGGRAPH Asia 2014 Emerging Technologies, SA 2014


ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Software

Cite this

Yamen Saraiji, M. H. D., Fernando, C. L., Mizushina, Y., Kamiyama, Y., Minamizawa, K., & Tachi, S. (2014). Enforced telexistence: Teleoperating using photorealistic virtual body and haptic feedback. In SIGGRAPH Asia 2014 Emerging Technologies, SA 2014 Association for Computing Machinery, Inc. https://doi.org/10.1145/2669047.2669048