Use of Delta Robot as an Active Touch Device in Immersive Case Scenarios

The paper presents a new approach to creating interactive simulations for testing tactile interaction with the user, which involves use of a low-cost device. The role of the haptic (touch) device and its functionality is achieved by using a manipulator with a parallel kinematic structure (Delta robot). This required the development of methods of integrating a robot with the selected Virtual Reality (VR) systems. Therefore, a new element was introduced into the virtual environment - a device to simulate real objects. In the Virtual Environment (VE), user interacted with a simulated object, and the task of the Delta robot was moving into a position which enabled the interaction. In this way, VE has become more responsive because it corresponded to the behavior of the user, who can move and interact with digital objects and directly experience their physical properties (e.g. size, shape). According to the authors, this type of application will be able in the future to support the effectiveness of virtual training, with particular emphasis on educational simulation (e.g. to perform procedural tasks).