Haptic holography: a primitive computational plastic

We describe our work on haptic holography, a combination of computational modeling and multimodal spatial display, which allows a person to see, feel, and interact with three-dimensional freestanding holographic images of material surfaces. In this paper, we combine various holographic displays with a force-feedback device to render multimodal images with programmatically prescribed material properties and behavior. After a brief overview of related work which situates visual display within the manual workspace, we describe our holo-haptic approach and survey three implementations, Touch, Lathe, and Poke, each named for the primitive functional affordance it offers. In Touch, static holographic images of simple geometric scenes are reconstructed in front of the hologram plane, and coregistered with a force model of the same geometry. These images can be visually inspected and haptically explored using a handheld interface. In Lathe, a holo-haptic image can be reshaped by haptic interaction in a dynamic but constrained manner. Finally in Poke, using a new technique for updating interference-modeled holographic fringe patterns, we render a holo-haptic image that permits more flexible interactive reshaping of its reconstructed surface. We situate this work within the context of related research and describe the strengths, shortcomings, and implications of our approach.