Methods for Implementing Tactile Sensations in Virtual Space by Integrating Physical Objects with Their Computer Models

The paper presents original methods and approaches for integrating, from the user's point of view, three-dimensional virtual models visible to them in a virtual reality headset, and their physical prototypes. This allows for the addition of some important elements of physical reality to the virtual environment, such as tactile and muscle-motor sensations. Developed solutions are based on the use of such wireless devices as HTC Vive Trackers, which determine their position and orientation in space, and can be placed on various objects of the real world. An original approach to making a tracking system by means of two HTC Base Stations and several Vive Trackers with selecting one anchor element is proposed, as well as new methods for real-time integration of physical reality objects with their virtual models by using functional control schemes with own blocks for trackers. Based on methods and approaches proposed in this work, software modules were implemented. Approbation of these modules in the VirSim virtual environment system, which was developed in Scientific Research Institute for System Analysis of the Russian Academy of Sciences, showed that the solutions developed are adequate and effective, and can have practical application in virtual environment systems and training complexes.