A Model Predictive Control Approach for Reach Redirection in Virtual Reality

Eric J. Gonzalez, Elyse D. Z. Chase, Pramod Kotipalli, Sean Follmer


Reach redirection is an illusion-based virtual reality (VR) interaction technique where a user’s virtual hand is shifted during a reach in order to guide their real hand to a physical location. Prior works have not considered the underlying sensorimotor processes driving redirection. In this work, we propose adapting a sensorimotor model for goal-directed reach to obtain a model for visually-redirected reach, specifically by incorporating redirection as a sensory bias in the state estimate used by a minimum jerk motion controller. We validate and then leverage this model to develop a Model Predictive Control (MPC) approach for reach redirection, enabling the real-time generation of spatial warping according to desired optimization criteria (e.g., redirection goals) and constraints (e.g., sensory thresholds). We illustrate this approach with two example criteria – redirection to a desired point and redirection along a desired path – and compare our approach against existing techniques in a user evaluation.

Presentation Video


Eric J. Gonzalez, Elyse D.Z. Chase, Pramod Kotipalli, and Sean Follmer. 2022. A Model Predictive Control Approach for Reach Redirection in Virtual Reality. In Proceedings of the 2022 CHI Conference on Human Factors in Computing Systems (CHI ‘22). ACM, New Orleans, LA, USA.

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