Haptic augmented reality: Modulation of real object stiffness

Haptic augmented reality allows a user to feel the sensation of a real object augmented with synthetic haptic stimuli created by a haptic interface. For example, the user feels a soft sponge as if it is a stiffer rubber. This demonstration presents a haptic augmented reality framework in which the stiffness of a real object is modulated with additional virtual haptic feedback. A haptic interface is extended with a force sensor, and efficient and effective algorithms for contact detection and stiffness modulation are implemented with closed-loop control. This work can serve as an initial building block towards a general haptic augmented reality system.