Haptic Interaction

The demonstration described in this paper attempts to give users tactile feedback on the sole of the virtual avatar using the locomotion interface of anthropomorphic finger motions. We believe that the illusion in the contact area can be caused by the sense of ownership derived from the close relationship of the motion between the fingers and the avatar’s legs. The objective of this study was to prove the possibility that fingers can be substituted in the place of legs in locomotion interfaces in terms of tactile sensation.

Visual and tactile stimulation is known to affect the experience of eating and drinking. In this study, we focused on the vibration of a Japanese sake bottle when used to pour liquid. We manufactured a device that can be attached to the neck of any plastic bottle and investigated how beverage consumption was affected by the vibration. We found that presentation of the vibration affected the amount of poured beverage when visual and sound cues were masked.

This paper presents the influence of the gravity on the motor control of the upper limb by using the simulated steering system. The generation of the mirror illusion is tested under the condition that one handgrip is fixed and the other handgrip is turned by using the steering system. A preliminary test shows that participants can perceive the steering as being natural (mirror illusion) when the operated arm is turned against gravity, but they hardly perceive the steering as being natural when the operated arm is turned with gravity. This result indicates that the motor control of moving with gravity may be force-oriented and that against gravity may be position-oriented.

Motion-synchronized vibrotactile stimuli on a finger pad influence the perception of the inertia and viscosity of an object being jiggled by the finger (Minamizawa et al. 2007 [

1

]). We designed a handheld device that imposed vibrotactile stimuli to gripping finger pads. The device allowed us to experience the illusory change in the perceived inertia of the device by vibrotactile stimulation synchronized with the acceleration of the hand movement.

We often clean others’ ears for the purpose of hygiene and communication. However, this activity has a risk of injuring the ears from applying too much force because it is difficult to grasp the movement and position of an ear pick. To solve this problem, we present novel techniques to provide cues for grasping behavior of the ear pick using auditory feedback. We implemented two techniques: (1) direct feedback of scratch sound and (2) conversion of force applied to the ear canal to audible signal. We conducted two experiments to study whether these techniques can help users control the exerted force. Contrary to our expectation, the results of the first experiment showed that the direct feedback of scratch sound had no helpful effect on force control. However, the results of the second experiment showed the marginally significant effect that the conversion of force applied to the ear canal to audible signal reduced force. This result indicates that the audification of the force helps users to control the force.

Tactile feedback is important for interaction in virtual reality. Some previous works employed vibration motors for tactile display. However, it is difficult to recognize the position of vibrotactile perception because the resolution of tactile perception is not so high. Our previous works and other previous works describe that visual stimulation seemed to influence tactile perception. In this paper, we describe some experiments to verify the spatial resolution of vibrotactile perception on a forearm and a palm and to investigate the influence of visual stimulation on vibrotactile perception. The results show that visual stimulation influences the position of vibrotactile perception. From this perspective, we propose a vibrotactile display with LEDs for changing the position of vibrotactile perception.

Gesture input with body motion has an operating limitation due to a lack of human precise positioning capability of the hand in the air. This study proposes simplified vibrotactile feedback methods to assist spatial pointing performances. The proposed methods demonstrated simplified tactile feedbacks, which were just non-directional vibratory intensity or a few vibration patterns.

We found that force or tactile sensation occurred when temperature of thermal elements which were statically touched by subject’s skin changes rapidly. This study aims to clarify its mechanism and to investigate its nature. In this paper, we conducted an experiment to verify incidence rate and quality of this thermal-tactile illusion. As result of the experiment, some kind of vertical sensation occurred and interpretations of occurred sensation were various.

We have applied a frequency-shifting method, which was proposed previously in the literature for mixer manipulation, with the aim of generating vibration-based feedback to enrich the listener’s musical experience. Experimental results showed that the proposed method significantly increased the listener’s evaluation of sound consisting of high-frequency components, while a relatively poor evaluation was observed for sound containing low-frequency components.

Surgical robotics is developing rapidly. It has numerous advantages for the patient such as small scars, shorter operation time, and shorter recovery time. While teleoperated robotics also has many benefits for the surgeon such as tremor reduction, force scaling, and comfortable working position, it completely isolates the surgeon hands, his/her natural force, and tactile sensors, from the patient, reducing the intuitiveness of the interface and sometimes leading to accidents. In an effort to restitute these sensations to the surgeon, various haptic displays have been designed rendering forces and tactile sensations at the level of the master device. We study multimodal haptic feedback and its effect on the intuitiveness of the teleoperated surgical interfaces. We present here the design and evaluation of a multimodal tactile display that reproduces pulse-like and thermal feedback on the user’s fingertip. In addition, the multimodal display is combined with a commercial force feedback device, and a virtual telepalpation task is implemented.

We present a method to add textures to aerial images using ultrasounds. The superposition of an acoustic radiation pressure on an aerial image allows users to feel a tactile texture of a virtual object floating in midair. Tactile textures can be altered by modulating the waveform of the ultrasounds. The tactile feedback is presented selectively on the user’s fingertip using an infrared sensor without an extra marker. The proposed method provides a rich visuo–tactile experience all in free space.

In this study, we developed a portable driving system for Diminished Haptics that transforms the haptic textures of real materials by ultrasonic vibration based on a squeeze film effect. A real material is attached on the display area (a square area with 30-mm sides), and its haptic texture is reduced. However, the vibration amplitude is decreased due to a shift of resonance frequency when user’s finger contacts with the haptic display. Thus, a resonance frequency tracing system in the driving system plays an important role in maintaining the vibration amplitude. In this paper, we focus on the details of the resonance frequency tracing system and the effect of the system is evaluated.

Man feels temperature in the cutaneous surface of not only fingers but also the whole body. There is a high possibility that temperature can be applied to information display. Temperature perception depends on the size of the area affected, the difference in temperature and the speed with which the temperature changes. In this study, we focused on the latter and developed a thermal comfort variable system. In this paper, we explain the characteristics of this system and the method of temperature presentation synchronized with the image.

We present a texture modulation technique that employs electrotactile augmentation to alter roughness perception during the texture exploration of a 3D fabricated object. The system detects user’s touch action and renders the electrical stimulus that induces the modulating nerve activities at the middle phalanx of a finger. The users perceive fused sensation of the virtual sensation from the artificial electrical stimulus and the real sensation from the exploration of the fabricated object. The system allows users to explore the surface of a fabricated object with their bare finger and feel various roughness of the surface according to the modulation gain.

This study demonstrates rendering of two unique softness sensations, by using a multi-digit softness display developed earlier by the authors. In one demonstration, a user can feel pulsating object within a soft material, which simulates a pulsating vessel or a heart within human body. The other demonstration is for distributed softness. By providing different softness sensations to multiple fingers, the system can render hard content within a soft body. In both of the demonstrations, a user can virtually rub the surface by providing lateral force to the device.

An outer-covering haptic display (OCHD) is a device that imparts a guiding force sensation to the back of a learner’s hand and guides the learner to manipulate a tool. Our previous study found that OCHD provides a skin deformation sensation and is able to guide a learner with less drive force than the alternative method where the tool is directly actuated. In this study, we developed a wearable outer-covering haptic display (wOCHD) for hand motion, with two ball effectors to deform the skin and provide a guiding information in four axes of motion.

Electro-tactile display has simple mechanical structure, and it can present tactile stimulus. However, electro-tactile display lacks feedback corresponding to touching motion. In this research, we developed a device that combines an electro-tactile display and pressure distribution sensor. The device not only solves the problem of unnatural electrical sensation, but also enables the expression of haptics-related physical characteristics, such as softness and viscosity. In an experiment, we validated whether the presentation of softness sensation is possible. As a result, presentation of softness sensation is confirmed that is possible by using pressure distribution measurement.

In thermal display systems, the way to perform heating and cooling is an important issue. In this study, presenting temperature is controlled by adjusting the water flow volume in the thermal display system using water. In this paper, we explain the contents considering the water flow volume and the relation of the temperature changes, on the basis of the experimental result using the thermal displays of various form and size.

We propose HeatHapt, which is a concept of thermal radiation-based

haptic display

Haptic display

. By using thermal radiation and human characteristic of

heat sensation

Heat sensation

, the HeatHapt realizes virtual

haptic sensation

Haptic sensation

in the air. The human feels drastic phase shift between 45 °C from hot to pain. We employ the characteristic and

haptic

Haptic

movement of human and display haptic-like sensation to him. The system realizes haptic contact with digital contents directly with his hands.

This paper presents a new surface display that enables delicate tactile rendering with electrovibration and mechanical vibration. Haptic information on the surface can be expressed more richly if both feedback types are rendered simultaneously.

Laterally asymmetric vibrotactile stimuli produce anisotropic or directison-dependent frictions and work as a friction display system. In this study, we showed that even symmetrical vibrotactile stimuli increased frictional perception based on the similar principle. We measured friction forces between a sliding finger pad and a contactor that was laterally vibrating at 3–5 Hz, and found that the lateral vibrations created zero relative velocity between the finger pad and the contactor and resulted in the frequent sticks between the two bodies. As a result, humans perceived stronger friction when scanning the vibrating contactor than scanning a stationary contactor.

While hanger reflex is known as an involuntary movement of human head, the similar phenomenon has been found at the wrist and positions that efficiently generate the movement. However, the detailed condition about the strength of the pressure has not yet studied. In this paper, we measured the pressure thresholds of the hanger reflex at the wrist. The results showed around 6 N pressure presented both inward and outward rotation.

In this study, we propose a haptic device SPIDAR-S which is able to be attached to the smartphone. Haptic devices that have been developed before are not familiar to many people because they are expensive, large, and complex. Therefore, we aimed to develop SPIDAR-S which is a very small and simple device. And we hope that many people will be able to enjoy haptic technology easily in any place by using it.

Dexterity for fine manipulation requires information from multiple skin contacts to detect the external forces applied on a tool. In this study, we developed a

haptic interface

Haptic interface

to represent the external forces or stiffness of objects so that the pressure distributions at the contact pads can be controlled by using suction stimuli. The original

interface

Interface

had the drawback of being unable to represent high-frequency force sensations such as friction and collision because of air stimuli have large-scale characteristics. Thus, we integrated vibrotactile stimuli into the interface to represent high-frequency force sensations.

Although electrical muscle stimulation (EMS) has been utilized in various

haptic interfaces

Haptic interface

, haptic sense induced by EMS does not satisfactorily provide the full spectrum of haptic events. To enhance pseudo-haptic feedback provided via EMS, we incorporated visual feedback and examined the effect of such feedback on the

pseudo-haptic feedback

Haptic feedback

induced by EMS. Results showed that the perceived forces in the electrical stimulation with visual feedback were larger than the force exerted in the sole electrical stimulation. That is, it is suggested that the pseudo-haptic feedback can be enhanced and controlled by the addition of the visual feedback.

This study presents a simple but effective approach to extract and selectively augment normal and tangential force components from a reaction force when a user interacts with a real object using a probe. The approach first approximates the behavior of a contact area with a single representative point, i.e., contact centroid. We use it to decompose the reaction force into a normal and a tangential force component. For augmentation, the two components are selectively amplified or diminished. For demonstration, we applied the approach in a breast tumor palpation scenario, where

inhomogeneity

Inhomogeneity

due to hard nodules is amplified for better detectability of abnormality.

This study investigated the implementation of a deformable elastic hand model. We used the finite element method (FEM) and the penalty method for physics-based computations of forces and deformations on the contact area. To accelerate the computation, we developed an efficient method that utilizes the link structure of the hand. Using this model, users can perform object manipulation and get visual feedback from the deformations in the skin.

In this research, we propose a system which builds a VR world where operation is possible like real world by using wire-driven bimanual multi-finger haptic display SPIDAR-10. By using SPIDAR-10, it is possible to present a haptic such as a sense to catch an object, gravity to depend on an object, and the power between the both hands through the object in a VR world, and users can manipulate virtual objects with an operation close to the operation of the real world.

We propose a novel stuffed-toy robot with ability to express its intention through different responding force of the arms under force control. The robot is soft enough that people may want to embrace. The core of the research is the new force control mechanism for detection of the external force acting on the arms of the robot. The robot can sense the external force by a specialized force sensor and then change its stiffness with force control to respond to us. Different compliance on the arms can be realized by the change of force control gain.

We have developed a substitutive three-degree-of-freedom force display device that is wearable on the fingertips. This device utilizes vibrotactile phantom sensation (VPS) and substitutes normal and tangential forces by using the VPS magnitude and position displacement. The device has five voice-coil actuators that produce oscillatory friction force to generate VPS. The adoption of friction force oscillation realized 8.5 mm thickness at the finger pad and 13.2 g weight.

In this paper, we describe the design of a wire-driven haptic device. One of the problems of wire-driven haptic devices is that peak force feedback are different by directions. If we solve this problem, we will be able to consider the design of wire-driven haptic device by minimal actuator output. Using min-max method, we sought the optimal geometric structure for omnidirectional

isotropic peak force

Isotropic peak force

feedback and made a prototype according to it.

In this demonstration, we propose a robotic haptic surface display that physically imitates the orientation of virtual 3D geometry at the point of touch. The proposed system mechanically aligns its display surface with virtual 3D geometry. This allows users to obtain tactual information where contact takes place. The proposed haptic rendering scheme is built on the basic consideration that relative tactual experiences play a significant role in haptic object perception.

A deformable model has been studied for applications in education, entertainment, and medicine. Large deformation of a linear finite element model induces undesirable volume expansion, due to nonlinearity of element’s rotation. We demonstrate stepwise rotation update of largely rotated elements, which improves a quality of deformation and reduces computation at a step effectively. A user can manipulate an object with force feedback, although conventional nonlinear finite element methods require offline simulation.

This study proposes a conceptual design of a tiny smart knob based on MR fluids in order to convey realistic haptic feedback to users in mobile devices. The haptic sensation, which is created in the form of resistive torque, is varied according to the current input. The proposed knob is designed in small size as possible as can so that it is easily inserted into mobile devices.

This article describes a built-in capacitive-type position sensing for a multi-finger visuo-haptic display system using electrostatic force. The sensing system shares the same components with the electrostatic haptic rendering, which are voltage signal sources, contact pads, and a sheet of ITO electrode. High-frequency sensor signal is superposed onto low-frequency high-voltage signal for the electrostatic haptic feedback, and the flowing high-frequency current is measured to estimate the position of the pad. To demonstrate the system capability, hockey game was implemented, in which two players can hit a virtual puck with haptic feedback.

This demonstration shows a highly flexible, transparent, and thin tactile sensor. The sensor detects touch forces at single or multiple points with fast response and high bendability in response to dynamic input force (0–3 N) without any electronic components on sensing areas. The sensor is also capable of sensing pressure on curvilinear soft surface such as human skin without significant performance degradation. The force sensor has potentials to be used in a number of applications for measuring dynamic contact forces on various surfaces.

This study deals with the development of a

force-sensing

Haptic sensing

device for converting a desk into an interface by mounting the device on the supports or legs of these objects. The system is composed of four force sensors with clamps, and a PC. Contact force and its position on a regular desk can be estimated from the response of the four force sensors fixed on the legs of the desk. Some application programs using this interface are introduced.

In this work, we propose an input interface for mobile head-mounted display. A camera is attached on frames of glasses to take pictures below. When users lift their hand so that the camera can see their thumbnail, the system recognizes it and detects its position. Measured position is used for inputting command for controlling the head-mounted display. The system also recognizes pinching force between a thumb and an index finger. The color of the thumb changes depending on the applied force. Users can interact with devices with small motions.

This paper describes a method of estimating the fingertip force and the application. We focus the deformation of fingertip contact surface when a fingertip is pressed and slightly slide on a rigid plate. The deformation changes depending on the exerted force on the contact surface. The proposed method allows the fingertip force estimation only from the contact images captured by a camera using FTIR method (Han 2005, [

1

]).

We developed a prototype of an exoskeletal patient simulator that allows clinical trainees to experience and learn about ankle disorders related to hemiplegia. The exoskeleton exerts abnormal joint torques by tendon mechanisms while realizing complex ankle movements and realistic bone and skin features. Using this exoskeleton, we simulated the resistances of spasticity and clonus, which are typical symptoms of hemiplegia. We demonstrated these two types of simulated symptoms and showed their validity.

In this study, we propose an interactive surgery simulator using an optimized space and time adaptive (online re-mesh and multi-rate) deformation simulation on graphics processing unit (GPU). In our previous approach, relative large processing time was required for memory transfer between CPU and GPU, because updating of a node list was not performed after the re-meshing. We solved this problem by updating the node list with a fast and minimum updating procedure.

Virtual reality-based simulators can be used as a tool for surgical training, provided that such

simulators

Simulator

can produce realistic tool-to-organ interactions. To reproduce such interactions, we are developing a

laparoscopic simulator

Laparoscopic simulator

with

haptic feedback

Haptic feedback

. However, the current simulator is designed to have one point at each tool tip to make contact with the organs. We propose a method to improve the simulator to detect the collision not only on the tool tips, but on the tool rods as well, using a hierarchical approach.

This study addresses a

haptic

Haptic

simulator of diseased

knee

Knee

joints that is intended for the use in the training of manual examination techniques used in physical therapy. These techniques involve clinicians moving the impaired joint of a patient to test the dynamic joint resistance caused by a condition. Our exoskeleton robot simulates five types of common knee problems. The simulated symptoms were checked in terms of subjective similarity to actual symptoms that physical therapists experience in their work. Three of the five symptoms could be correctly identified, whereas the other two were found to require further tuning. The proposed patient simulator could improve the training of manual examination techniques by being able to simulate a variety of symptoms.

In this study, a system for a

hepatectomy

Hepatectomy

simulator was developed. The system consists of 2 haptic devices, a visual display, a depth

sensor

Sensor

, and a control PC. One of the haptic devices is used for left hand. A silicon rubber mock-up of the lobe of a liver is attached to the end effector of the haptic device. Another haptic device is provided for right hand, which is a mock-up of an ultrasonic aspirator. Then, the user can incises a virtual liver with it, and the mock-up is vibrated similar to a real ultrasonic aspirator. By using the depth sensor, the position of the haptic device is measured and transmitted to the PC. In the PC, simulation software, named Liversim, calculates the interference between the tip of the interface and the virtual liver. The virtual liver can be deformed, translated, or incised by the user. Image of the virtual liver is presented to the user. And the user can feel the reaction force like a real surgery through the haptic interfaces.

This study proposes a

haptic augmentation

Haptic augmentation

method for surgical operations using a passive hand exoskeleton and a 4DOF link arm. The enhancements aim to allow neurosurgeons to surgerize cephalic area precisely by improving their finger movement capability. The hand exoskeleton has multiple quadric crank mechanisms with torque dampers to increase motion resolution and decrease hand tremors. The dampers are passively actuated by the action of the user. The voluntary movement of the surgeon’s fingers will not be obstructed and safety would be increased. The link arm has electromagnetic brakes in each joint and is capable of supporting a surgeon’s upper limb. In this study, the development and assessment of the exoskeleton and link arm are described.

Micro-robotic cell injection is typically performed manually by a trained bio-operator, and success rates are often low. To enhance bio-operator performance during real-time cell injection, our earlier work introduced a haptically-enabled micro-robotic cell injection system. The system employed haptic virtual fixtures to provide haptic guidance according to particular performance metrics. This paper extends the work by replicating the system within a virtual reality (VR) environment for bio-operator training. Using the virtual environment, the bio-operator is able to control the virtual injection process in the same way they would with the physical haptic micro-robotic cell injection system, while benefiting from the enhanced visualisation capabilities offered by the 3D VR environment. The system is achieved using cost-effective components offering training at much lower cost than using the physical system.

Despite ongoing research into delivering haptic content, users still have no accessible way to add haptics to their experiences. Lack of haptic media infrastructure, few libraries of haptic content, and individual differences all provide barriers to creating mainstream

haptics

Haptics

. In this paper, we present an architecture that supports generation of haptic content, haptic content repositories, and customization of haptic experiences. We introduce

FeelCraft

, a software plugin that monitors activities in media and associates them with expressive tactile patterns known as

feel effects

. The FeelCraft plugin allows end users to quickly generate

haptic

Haptic

effects, associate them to events in the media, play them back for testing, save them, share them, and/or broadcast them to other users to feel the same haptic experience. The FeelCraft architecture supports both existing and future media content, and can be applied to a wide range of social, educational, and assistive applications.

The ball game robot has attracted considerable research attention in recent years. This paper describes the research and development of a ball game robot based on human physical properties and defensive motion. In particular, we focus on reproducing defensive motion. We will develop a defense robot that can be used in a training field and aim at building an interactive system. Considering the problem of strength and stability control, we attached weight to important operations. Because the arms and hands of the robot were built to imitate human physical properties, the robot can bounce a ball realistically. We conducted a quality assessment experiment to determine whether the robot operations indeed imitate a defensive motion and verified the validity of the experiment.

We developed a handshake gadget that allows people in remote locations to feel mutual force and movement and exhibited it at the 2014 Niconico Chokaigi in April. The Niconico Chokaigi is a very large exhibition in Japan; 125,000 persons attended, and more than 7 million people viewed the movie via the Internet. Our handshake gadget connected individuals in Japan and Taiwan and was experienced by a number of people, including the Japanese Prime Minister and popular characters such as Funasshi and Mario. An international questionnaire administered to those trying the device found that more than 70 % expressed excitement for this gadget, while more than 65 % could feel mutual force and motion.

This paper introduces a shape-rendering method called haptic snake for interacting with virtual objects in air. Haptic snake is composed of serially linked line segments and is controlled using an active contour model known as a snake algorithm. Through an interface controlled using haptic snake, the user can feel a virtual presence in a 3D space from the changes in its shape and the force exerted from the movement of the interface. For the further work, kinesthetic feedback structure will be developed and justified to develop ungrounded mobile haptic interface.

This paper describes a technique for developing an immersive walk-through system that implements a rendering method for superimposing computer graphics onto a panoramic movie in an immersive walk-through system. The system is composed of a locomotion interface and an immersive spherical display. In this study, we analyze the camera path from the movie to stabilize the orientation of the camera for rendering an immersive image. Further, the system superimposes computer graphics (CG) onto the image according to the system coordinates from the movie. We implemented the proposed rendering method to realize a free viewpoint image with the movie and the CG by moving the viewpoint.

In developing wearable computing technology, it is often desirable to produce the sensation of tapping a virtual object in mid-air. Such a tapping sensation consists of not only tactile sensations at the fingertips but also force feedbacks to the musculoskeletal system. Therefore, physical interactions with objects ostensibly involve an integration of tactile sensations with force feedback to the musculoskeletal system when perceived objects are contacted. In this study, we propose a method that combines electro-tactile stimulation (ETS) for tactile receptors with functional electro-stimulation (FES) for the musculoskeletal system. The results of an experimental study show that simultaneous perception was reportedly obtained when ETS was delayed by 25 ms after FES when tapping a rigid virtual object.

For computer-based education, virtual environments equipped with haptic devices have been used to aid the learning process. The main benefit of

haptics

Haptics

technology is that it can improve the realism of virtual environments. This paper describes a haptic-enabled English education system for elementary students. We demonstrate two game-based scenarios which allow users to learn English and scientific laws by exploring in virtual environments with a haptic interface.

This paper presents a haptic visualization technique for conveying material type through visual feedback, expressed as visible decaying sinusoidal vibration resulting from tapping an object. The technique employs cartoon-inspired visual effects and modulates the scale of the vibration to comply with visual perception. The results of a user study show that participants could successfully perceive three types of material (rubber, wood, and aluminum) using our novel visual effect.

This paper proposes a system that enables users to recognize the shapes and textures of remote objects with 1-degree of freedom (DOF) haptic feedback. The system consists of a camera platform and a handheld haptic interface. The platform is equipped with a laser range finder, which can be tilted and panned. The handheld interface can generate a 1-DOF reaction force proportional to the distance measured by using a laser range finder (LRF) on the camera platform. The LRF rotates synchronously according to the translational and rotational motion of the handheld interface. In addition, a stereoscopic display indicates a real-time stereoscopic video image of a remote site captured by a stereo camera.

We have created a system that generates vibrotactile images on the surface of bare human palms. It simultaneously projects visible images by a video projector and produces non-contact vibrotactile stimuli using focused airborne ultrasound on the users’ skin. The vibrotactile images can be moved smoothly owing to the ultrasound phased array technique employed in the system. The vibrational texture can be tuned with amplitude modulation of ultrasound at the focal point. Our proposed system does not postulate that users wear specific devices for sensing tactile stimuli, which allows users to be free from any physical constraints.

In this paper, we propose a haptization system for animal images by using a 3D model of the animal. The haptization methods which were proposed before, there has been some problems. Some haptization methods are insufficient sense of presence, or require the depth information, so they are not fit to apply to animal images. Therefore, the purpose of this research is to improve the three-dimensional impression and the sense of presence by placing a 3D model of an animal on the image and performing the haptic feedback. But generating the 3D model of the animal from an image automatically and to estimate the pose is difficult. So we are going to make a system which have an existing 3D models and pose information, then users can choose and place them without stress.