Framework for Haptic Interaction with Virtual Avatars
Identifieur interne : 000229 ( Hal/Curation ); précédent : 000228; suivant : 000230Framework for Haptic Interaction with Virtual Avatars
Auteurs : Paul Evrard [Japon] ; François Keith [France] ; Jean-Rémy Chardonnet [Japon] ; Abderrahmane Kheddar [France]Source :
Abstract
In this paper we present an integrative framework centered on haptic interaction with virtual avatars. This framework is devised for general prototyping and collaborative scenario studies with haptic feedback. First we present the software architecture of the framework and give details on some of its components. Then we show how this framework can be used to derive in a short time a virtual reality simulation. In this simulation, a user directly interacts with a virtual avatar to collaboratively manipulate a virtual object, with haptic feedback and using fast dynamics computation and constraint-based methods with friction.
Url:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000229
Links to Exploration step
Hal:lirmm-00536326Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Framework for Haptic Interaction with Virtual Avatars</title><author><name sortKey="Evrard, Paul" sort="Evrard, Paul" uniqKey="Evrard P" first="Paul" last="Evrard">Paul Evrard</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-85257" status="VALID"><orgName>Joint Robotics Laboratory</orgName><orgName type="acronym">CNRS-AIST JRL</orgName><desc><address><addrLine>National Institute of Advanced Science and Technology AIST Tsukuba Central 2, Umezono 1-1-1, Tsukuba, 305-8568</addrLine><country key="JP"></country></address><ref type="url">http://unit.aist.go.jp/is/cie/group/jrl_e.html</ref></desc><listRelation><relation active="#struct-302425" type="direct"></relation><relation name="UMI3218" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName><orgName type="acronym">AIST</orgName><desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine><country key="JP"></country></address><ref type="url">http://www.aist.go.jp/index_en.html</ref></desc></org></tutelle><tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>Japon</country></affiliation></author><author><name sortKey="Keith, Francois" sort="Keith, Francois" uniqKey="Keith F" first="François" last="Keith">François Keith</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName><orgName type="acronym">IDH</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref></desc><listRelation><relation active="#struct-181" type="direct"></relation><relation name="UMR5506" active="#struct-410122" type="indirect"></relation><relation name="UMR5506" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno><orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName><orgName type="acronym">LIRMM</orgName><date type="start">1995</date><desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine><country key="FR"></country></address><ref type="url">http://www.lirmm.fr</ref></desc><listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation><relation name="UMR5506" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName><orgName type="acronym">UM</orgName><desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chardonnet, Jean Remy" sort="Chardonnet, Jean Remy" uniqKey="Chardonnet J" first="Jean-Rémy" last="Chardonnet">Jean-Rémy Chardonnet</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-85257" status="VALID"><orgName>Joint Robotics Laboratory</orgName><orgName type="acronym">CNRS-AIST JRL</orgName><desc><address><addrLine>National Institute of Advanced Science and Technology AIST Tsukuba Central 2, Umezono 1-1-1, Tsukuba, 305-8568</addrLine><country key="JP"></country></address><ref type="url">http://unit.aist.go.jp/is/cie/group/jrl_e.html</ref></desc><listRelation><relation active="#struct-302425" type="direct"></relation><relation name="UMI3218" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName><orgName type="acronym">AIST</orgName><desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine><country key="JP"></country></address><ref type="url">http://www.aist.go.jp/index_en.html</ref></desc></org></tutelle><tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>Japon</country></affiliation></author><author><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName><orgName type="acronym">IDH</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref></desc><listRelation><relation active="#struct-181" type="direct"></relation><relation name="UMR5506" active="#struct-410122" type="indirect"></relation><relation name="UMR5506" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno><orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName><orgName type="acronym">LIRMM</orgName><date type="start">1995</date><desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine><country key="FR"></country></address><ref type="url">http://www.lirmm.fr</ref></desc><listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation><relation name="UMR5506" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName><orgName type="acronym">UM</orgName><desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:lirmm-00536326</idno><idno type="halId">lirmm-00536326</idno><idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00536326</idno><idno type="url">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00536326</idno><date when="2008-08-01">2008-08-01</date><idno type="wicri:Area/Hal/Corpus">000229</idno><idno type="wicri:Area/Hal/Curation">000229</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Framework for Haptic Interaction with Virtual Avatars</title><author><name sortKey="Evrard, Paul" sort="Evrard, Paul" uniqKey="Evrard P" first="Paul" last="Evrard">Paul Evrard</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-85257" status="VALID"><orgName>Joint Robotics Laboratory</orgName><orgName type="acronym">CNRS-AIST JRL</orgName><desc><address><addrLine>National Institute of Advanced Science and Technology AIST Tsukuba Central 2, Umezono 1-1-1, Tsukuba, 305-8568</addrLine><country key="JP"></country></address><ref type="url">http://unit.aist.go.jp/is/cie/group/jrl_e.html</ref></desc><listRelation><relation active="#struct-302425" type="direct"></relation><relation name="UMI3218" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName><orgName type="acronym">AIST</orgName><desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine><country key="JP"></country></address><ref type="url">http://www.aist.go.jp/index_en.html</ref></desc></org></tutelle><tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>Japon</country></affiliation></author><author><name sortKey="Keith, Francois" sort="Keith, Francois" uniqKey="Keith F" first="François" last="Keith">François Keith</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName><orgName type="acronym">IDH</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref></desc><listRelation><relation active="#struct-181" type="direct"></relation><relation name="UMR5506" active="#struct-410122" type="indirect"></relation><relation name="UMR5506" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno><orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName><orgName type="acronym">LIRMM</orgName><date type="start">1995</date><desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine><country key="FR"></country></address><ref type="url">http://www.lirmm.fr</ref></desc><listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation><relation name="UMR5506" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName><orgName type="acronym">UM</orgName><desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chardonnet, Jean Remy" sort="Chardonnet, Jean Remy" uniqKey="Chardonnet J" first="Jean-Rémy" last="Chardonnet">Jean-Rémy Chardonnet</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-85257" status="VALID"><orgName>Joint Robotics Laboratory</orgName><orgName type="acronym">CNRS-AIST JRL</orgName><desc><address><addrLine>National Institute of Advanced Science and Technology AIST Tsukuba Central 2, Umezono 1-1-1, Tsukuba, 305-8568</addrLine><country key="JP"></country></address><ref type="url">http://unit.aist.go.jp/is/cie/group/jrl_e.html</ref></desc><listRelation><relation active="#struct-302425" type="direct"></relation><relation name="UMI3218" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-302425" type="direct"><org type="institution" xml:id="struct-302425" status="VALID"><orgName>National Institute of Advanced Industrial Science and Technology</orgName><orgName type="acronym">AIST</orgName><desc><address><addrLine>1-1-1 Higashi, Tsukuba, Ibaraki 305-8561</addrLine><country key="JP"></country></address><ref type="url">http://www.aist.go.jp/index_en.html</ref></desc></org></tutelle><tutelle name="UMI3218" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>Japon</country></affiliation></author><author><name sortKey="Kheddar, Abderrahmane" sort="Kheddar, Abderrahmane" uniqKey="Kheddar A" first="Abderrahmane" last="Kheddar">Abderrahmane Kheddar</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-395113" status="VALID"><orgName>Interactive Digital Humans</orgName><orgName type="acronym">IDH</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.lirmm.fr/recherche/equipes/idh</ref></desc><listRelation><relation active="#struct-181" type="direct"></relation><relation name="UMR5506" active="#struct-410122" type="indirect"></relation><relation name="UMR5506" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-181" type="direct"><org type="laboratory" xml:id="struct-181" status="VALID"><idno type="RNSR">199111950H</idno><orgName>Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</orgName><orgName type="acronym">LIRMM</orgName><date type="start">1995</date><desc><address><addrLine>CC 477, 161 rue Ada, 34095 Montpellier Cedex 5</addrLine><country key="FR"></country></address><ref type="url">http://www.lirmm.fr</ref></desc><listRelation><relation name="UMR5506" active="#struct-410122" type="direct"></relation><relation name="UMR5506" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR5506" active="#struct-410122" type="indirect"><org type="institution" xml:id="struct-410122" status="VALID"><orgName>Université de Montpellier</orgName><orgName type="acronym">UM</orgName><desc><address><addrLine>163 rue Auguste Broussonnet - 34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper we present an integrative framework centered on haptic interaction with virtual avatars. This framework is devised for general prototyping and collaborative scenario studies with haptic feedback. First we present the software architecture of the framework and give details on some of its components. Then we show how this framework can be used to derive in a short time a virtual reality simulation. In this simulation, a user directly interacts with a virtual avatar to collaboratively manipulate a virtual object, with haptic feedback and using fast dynamics computation and constraint-based methods with friction.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Framework for Haptic Interaction with Virtual Avatars</title><author role="aut"><persName><forename type="first">Paul</forename><surname>Evrard</surname></persName><email></email><idno type="halauthor">409130</idno><affiliation ref="#struct-85257"></affiliation></author><author role="aut"><persName><forename type="first">François</forename><surname>Keith</surname></persName><email>Francois.Keith@lirmm.fr</email><idno type="halauthor">832088</idno><affiliation ref="#struct-395113"></affiliation></author><author role="aut"><persName><forename type="first">Jean-Rémy</forename><surname>Chardonnet</surname></persName><email></email><idno type="halauthor">139296</idno><affiliation ref="#struct-85257"></affiliation><affiliation ref="#struct-181"></affiliation></author><author role="aut"><persName><forename type="first">Abderrahmane</forename><surname>Kheddar</surname></persName><email>abderrahmane.kheddar@aist.go.jp</email><idno type="halauthor">831275</idno><affiliation ref="#struct-395113"></affiliation></author><editor role="depositor"><persName><forename>Jean-Rémy</forename><surname>Chardonnet</surname></persName><email>jean-remy.chardonnet@ensam.eu</email></editor><funder ref="#projeurop-76158"></funder></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2015-08-03 11:16:56</date><date type="whenModified">2016-03-21 17:43:39</date><date type="whenReleased">2015-08-27 09:57:15</date><date type="whenProduced">2008-08-01</date><date type="whenEndEmbargoed">2015-08-27</date><ref type="file" target="http://hal-lirmm.ccsd.cnrs.fr/lirmm-00536326/document"><date notBefore="2015-08-27"></date></ref><ref type="file" subtype="author" n="1" target="http://hal-lirmm.ccsd.cnrs.fr/lirmm-00536326/file/Evrard_Roman2008.pdf"><date notBefore="2015-08-27"></date></ref></edition><respStmt><resp>contributor</resp><name key="145275"><persName><forename>Jean-Rémy</forename><surname>Chardonnet</surname></persName><email>jean-remy.chardonnet@ensam.eu</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">lirmm-00536326</idno><idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00536326</idno><idno type="halBibtex">evrard:lirmm-00536326</idno><idno type="halRefHtml">RO-MAN'2008: 17th International Symposium on Robot and Human Interactive Communication, Aug 2008, Munich, Germany. IEEE, pp.15-20, 2008</idno><idno type="halRef">RO-MAN'2008: 17th International Symposium on Robot and Human Interactive Communication, Aug 2008, Munich, Germany. IEEE, pp.15-20, 2008</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="IDH" p="LIRMM">Interactive Digital Humans</idno><idno type="stamp" n="OPENAIRE">OpenAIRE</idno><idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Framework for Haptic Interaction with Virtual Avatars</title><author role="aut"><persName><forename type="first">Paul</forename><surname>Evrard</surname></persName><idno type="halAuthorId">409130</idno><affiliation ref="#struct-85257"></affiliation></author><author role="aut"><persName><forename type="first">François</forename><surname>Keith</surname></persName><email>Francois.Keith@lirmm.fr</email><idno type="halAuthorId">832088</idno><affiliation ref="#struct-395113"></affiliation></author><author role="aut"><persName><forename type="first">Jean-Rémy</forename><surname>Chardonnet</surname></persName><idno type="halAuthorId">139296</idno><affiliation ref="#struct-85257"></affiliation><affiliation ref="#struct-181"></affiliation></author><author role="aut"><persName><forename type="first">Abderrahmane</forename><surname>Kheddar</surname></persName><email>abderrahmane.kheddar@aist.go.jp</email><idno type="halAuthorId">831275</idno><affiliation ref="#struct-395113"></affiliation></author></analytic><monogr><meeting><title>RO-MAN'2008: 17th International Symposium on Robot and Human Interactive Communication</title><date type="start">2008-08-01</date><date type="end">2008-08-03</date><settlement>Munich</settlement><country key="DE">Germany</country></meeting><imprint><publisher>IEEE</publisher><biblScope unit="pp">15-20</biblScope><date type="datePub">2008-08-01</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">In this paper we present an integrative framework centered on haptic interaction with virtual avatars. This framework is devised for general prototyping and collaborative scenario studies with haptic feedback. First we present the software architecture of the framework and give details on some of its components. Then we show how this framework can be used to derive in a short time a virtual reality simulation. In this simulation, a user directly interacts with a virtual avatar to collaboratively manipulate a virtual object, with haptic feedback and using fast dynamics computation and constraint-based methods with friction.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Hal/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000229 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Hal/Curation/biblio.hfd -nk 000229 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Hal
|étape= Curation
|type= RBID
|clé= Hal:lirmm-00536326
|texte= Framework for Haptic Interaction with Virtual Avatars
}}
| This area was generated with Dilib version V0.6.23. |  |