Abstract: Existing virtual reality factories that depend on helmets and handles can only provide one-way visual and auditory sensing for virtual operation, and cannot support immersive two-way tactile interaction. To deal with the problem, a haptics-enhanced virtual reality factory system is developed using force feedback controller. With Unity3D, 3DMax is used to model multiple kinds of tools and parts with 3D vision in the factory, and enhances their stereo vision by components such as reflection probes and light probes. Furthermore, by integrating components such as rigid bodies, collision bodies, joints to the virtual model, a tactile feedback model for the virtual space is established, which supports the real-time interaction between the haptic controller and virtual bodies. Experiments show that the system can provide a variety of force tactile perception capabilities such as mass, friction, and constant force. It supports tactile operations by touching and grasping more than 20 tools and parts, where the model, contour, and other physical attributes such as mass are provided. In this way, the system realizes the immersive operation experience of multi-dimensional audio-visual-haptic operation in the virtual factory.

Key words: virtual reality, tactile sensing, force feedback controller, virtual factory, 3D vision