The plenhaptic guidance function for intuitive navigation in extended range telepresence scenarios

In this work, we propose a plenhaptic guidance function that systematically describes the haptic information for guiding the user in the target environment. The plenhaptic guidance function defines the strength of the guidance at any position in space, at any direction, and at any time, and takes the geometry of the target environment as well as all possible goals into account. The plenhaptic guidance function, which can be rendered as active and passive guidance, is sampled and displayed to the user through a haptic interface in the user environment. The benefits of the plenhaptic guidance function for guiding the user to several simultaneous goals while avoiding the obstacles in a large target environment are demonstrated in real experiments.