with virtual simulation, MR simulation was found to
yield results closer to the real experiment.
7 CONCLUSIONS
A generic MR framework has been presented in this
paper for creating MR applications. The contribution
of our work is a novel behaviour-based interaction
scheme that enables real and virtual entities to phys-
ically participate in interactions. We have demon-
strated the use of our MR framework in building
robot simulations, giving the developers the flexibility
of virtualising robot and environmental components
for cost and safety reasons. Sensor-based interaction
and contact interactions between entities of varying
level of virtualisation have been successfully achieved
based on the stimulus-behaviour-response interaction
approach. In comparison to previous work where the
application of AR or MR to robot development has
mostly been limited to visualisation, our framework
enables virtual robots, sensors devices, and environ-
mental objects to physically take part in simulation.
The diverse field of MR requires any MR frame-
works to be general and extendable to suit differ-
ent operating contexts. Future work will investigate
the scalability of our framework for achieving other
forms of interactions, e.g. social interactions such as
speech and gesture, that help to create a broad range
of MR applications.
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