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IEEE Transactions on Haptics

Siyan Zhao, Ali Israr, Micah Fenner, Roberta Klatzky
Information provided by sensory systems is inherently ambiguous as to its source in the physical world. To arrive at a coherent representation, perception deploys heuristic rules and multimodal input, which potentially produce errors such as illusions. The current work uses these effects to create apparent tactile motion and illusory depth motion using sparse vibrotactile stimulation across the hands. Experiment 1 showed the effects of vibrotactile duration and temporal separation between the hands on the quality of perceived illusory linear motion...
March 13, 2017: IEEE Transactions on Haptics
Sahba Aghajani Pedram, Roberta L Klatzky, Peter Berkelman
Despite the fact that conventional haptic interfaces and rendering algorithms commonly approximate interactions with force only, the dynamic effects of even simple tasks, e.g. writing on a paper, involve both forces and torques. To extend previous algorithms as well as to investigate the effects of torque feedback on human roughness perception, we deployed a novel haptic platform with two probes, fingertip and penhandle. Three torque conditions were examined: 1) Slope Torque, which orients the probe perpendicular to the surface, 2) No Torque, where no active torque is provided by the device, and 3) Stiff Torque, where torque feedback is provided to keep the probe upright...
March 7, 2017: IEEE Transactions on Haptics
Samuel B Schorr, Allison Okamura
Virtual reality systems would benefit from a compelling force sensory substitute when workspace or stability limitations prevent the use of kinesthetic force feedback systems. We present a wearable fingertip haptic device with the ability to make and break contact in addition to rendering both shear and normal skin deformation to the fingerpad. A delta mechanism with novel bias spring and tether actuator relocation method enables the use of high-end motors and encoders, allowing precise device control: 10 Hz bandwidth and 0...
February 22, 2017: IEEE Transactions on Haptics
Dangxiao Wang, Teng Li, Gaofeng Yang, Yuru Zhang
In many domains, it's important to understand the ways in which humans learn and develop new motor skills effectively and efficiently. For example, in dental operations, the ability to apply a weak force with a required tolerance is a fundamental skill to ensure diagnostic and treatment outcome, but acquiring such a skill is a challenge for novices. In this paper, we focus on motor memory for producing normally applied force by a hand-held probe and we compare the effects of two feedback methods on motor memory consolidation...
February 22, 2017: IEEE Transactions on Haptics
Eric Vezzoli, Zlatko Virdih, Vincenzo Giamundo, Betty Lemaire-Semail, Frederic Giraud, Tomaz Rodic, Djordje Peric, Michael Adams
Ultrasonic vibration is employed to modify the friction of a finger pad in way that induces haptic sensations. A combination of intermittent contact and squeeze film levitation has been previously proposed as the most probable mechanism. In this paper, in order to understand the underlying principles that govern friction modulation by intermittent contact, numerical models based on finite element (FE) analysis and also a spring-Coulombic slider are developed. The physical input parameters for the FE model are optimised by measuring the contact phase shift between a finger pad and a vibrating plate...
February 17, 2017: IEEE Transactions on Haptics
Thomas Sednaoui, Eric Vezzoli, Brygida Maria Dzidek, Betty Lemaire-Semail, Cedrick Chappaz, Michael Adams
In part 1 of the current study of haptic displays, a finite element (FE) model of a finger exploring a plate vibrating out-of-plane at ultrasonic frequencies was developed as well as a spring-frictional slider model. It was concluded that the reduction in friction induced by the vibrations could be ascribed to ratchet mechanism as a result of intermittent contact. The relative reduction in friction calculated using the FE model could be superimposed onto an exponential function of a dimensionless group defined from relevant parameters...
February 17, 2017: IEEE Transactions on Haptics
Gijs Huisman
This survey provides an overview of work on haptic technology for social touch. Social touch has been studied extensively in psychology and neuroscience. With the development of new technologies it is now possible to engage in social touch at a distance or engage in social touch with artificial social agents. Social touch research has inspired research into technology mediated social touch, and this line of research has found effects similar to actual social touch. The importance of haptic stimulus qualities, multimodal cues, and contextual factors in technology mediated social touch is discussed...
January 9, 2017: IEEE Transactions on Haptics
Julia A Griffin, Weihang Zhu, Chang S Nam
Retinal microsurgery is one of the most technically difficult surgeries since it is performed at the threshold of human capability. If certain retinal conditions are left untreated, they can lead to severe damage, including irreversible blindness. Thus, techniques for reliable retinal microsurgery operations are critical. Recent research shows promise for improving surgical safety by implementing various types of sensory input and output. Sensory information is used to inform the surgeon about the environment inside the eye in real time...
January 2017: IEEE Transactions on Haptics
Heather Culbertson, Katherine J Kuchenbecker
Interacting with physical objects through a tool elicits tactile and kinesthetic sensations that comprise your haptic impression of the object. These cues, however, are largely missing from interactions with virtual objects, yielding an unrealistic user experience. This article evaluates the realism of virtual surfaces rendered using haptic models constructed from data recorded during interactions with real surfaces. The models include three components: surface friction, tapping transients, and texture vibrations...
January 2017: IEEE Transactions on Haptics
Vibol Yem, Hiroyuki Kajimoto
An electrotactile display is a tactile interface that provides tactile perception by passing electrical current through the surface of the skin. It is actively used instead of mechanical tactile displays for tactile feedback because of several advantages such as its small and thin size, light weight, and high responsiveness. However, the similarities and differences between these sensations is still not clear. This study directly compares the intensity sensation of electrotactile stimulation to that of mechanical stimulation, and investigates the characteristic sensation of anodic and cathodic stimulation...
January 2017: IEEE Transactions on Haptics
Gareth W Young, Dave Murphy, Jeffrey Weeter
We present an experiment that investigated the effect of vibrotactile stimulation in auditory pitch discrimination tasks. Extra-auditory information was expected to have some influence upon the frequency discrimination of auditory Just Noticeable Difference (JND) detection levels at 160 Hz. To measure this, the potential to correctly identified positive and negative frequency changes for two randomly divided groups was measured and then compared. The first group was given an audio only JND test and the second group was given the same test, but with additional vibrotactile stimulus delivered via a vibrating glove device...
January 2017: IEEE Transactions on Haptics
Maria Laura D'Angelo, Ferdinando Cannella, Matteo Bianchi, Mariapaola D'Imperio, Edoardo Battaglia, Mattia Poggiani, Gianluca Rossi, Antonio Bicchi, Darwin G Caldwell
Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution...
January 2017: IEEE Transactions on Haptics
Hsin-Ni Ho, Katsunari Sato, Scinob Kuroki, Junji Watanabe, Takashi Maeno, Shin'ya Nishida
Thermal displays have been applied in various haptic applications, from material simulation to interpersonal communication; however, there is insufficient knowledge about the temporal processing in human thermal sense to provide a knowledge basis for thermal display design. In this study, we investigated the physical-perceptual correspondence for dynamic thermal stimulation to shed a light on the temporal processing of human thermal sense. In the experiments, participants reported subjective timings of the temperature onset and temperature peak of continuous temperature changes applied to the thenar eminence...
January 2017: IEEE Transactions on Haptics
Juan Jose Zarate, Herbert Shea
We present the design, fabrication, characterization, and psychophysical testing of a scalable haptic display based on electromagnetic (EM) actuators. The display consists of a 4 × 4 array of taxels, each of which can be in a raised or a lowered position, thus generating different static configurations. One of the most challenging aspects when designing densely-packed arrays of EM actuators is obtaining large actuation forces while simultaneously generating only weak interactions between neighboring taxels...
January 2017: IEEE Transactions on Haptics
Stefano Papetti, Hanna Jarvelainen, Bruno L Giordano, Sebastien Schiesser, Martin Frohlich
An experiment was conducted to study the effects of force produced by active touch on vibrotactile perceptual thresholds. The task consisted in pressing the fingertip against a flat rigid surface that provided either sinusoidal or broadband vibration. Three force levels were considered, ranging from light touch to hard press. Finger contact areas were measured during the experiment, showing positive correlation with the respective applied forces. Significant effects on thresholds were found for vibration type and force level...
January 2017: IEEE Transactions on Haptics
Adam J Spiers, Aaron M Dollar
Shape-changing interfaces are a category of device capable of altering their form in order to facilitate communication of information. In this work, we present a shape-changing device that has been designed for navigation assistance. 'The Animotus' (previously, 'The Haptic Sandwich' ), resembles a cube with an articulated upper half that is able to rotate and extend (translate) relative to the bottom half, which is fixed in the user's grasp. This rotation and extension, generally felt via the user's fingers, is used to represent heading and proximity to navigational targets...
January 2017: IEEE Transactions on Haptics
Javier Corredor, Jorge Sofrony, Angelika Peer
This paper presents a haptic assistance strategy for teleoperation that makes a task and situation-specific compromise between improving tracking performance or human-machine interaction in partially structured environments via the scheduling of the parameters of an admittance controller. The proposed assistance strategy builds on decision-making models and combines one of them with impedance control techniques that are standard in bilateral teleoperation systems. Even though several decision-making models have been proposed in cognitive science, their application to assisted teleoperation and assisted robotics has hardly been explored yet...
January 2017: IEEE Transactions on Haptics
Jean-Philippe Choiniere, Clement Gosselin
This paper presents the design, control, and experimental validation of a haptic compass, designed as a guiding device for all environments. The proposed device uses the principle of asymmetric torques. Its design is based on a direct drive motor and a pre-calibrated open-loop control, which allows the generation of stimuli in a wide range of frequencies. User studies are presented and show optimum effectiveness in the frequency range 5-15 Hz and for torques over 40 mNm. The use of a haptic feedback proportional to the angle error is then shown to significantly improve the results...
January 2017: IEEE Transactions on Haptics
Ahmad Manasrah, Nathan Crane, Rasim Guldiken, Kyle B Reed
Temperature perception is a highly nonlinear phenomenon with faster rates of change being perceived at much lower thresholds than slower rates. This paper presents a method that takes advantage of this nonlinear characteristic to generate a perception of continuous cooling even though the average temperature is not changing. The method uses multiple thermal actuators so that a few are cooling quickly while the rest of the actuators are heating slowly. The slowly-heating actuators are below the perceptual threshold temperature change and hence are not perceived, while the quickly-cooling actuators are above the perceptual temperature change, hence are perceived...
January 2017: IEEE Transactions on Haptics
Rebecca P Khurshid, Naomi T Fitter, Elizabeth A Fedalei, Katherine J Kuchenbecker
The multifaceted human sense of touch is fundamental to direct manipulation, but technical challenges prevent most teleoperation systems from providing even a single modality of haptic feedback, such as force feedback. This paper postulates that ungrounded grip-force, fingertip-contact-and-pressure, and high-frequency acceleration haptic feedback will improve human performance of a teleoperated pick-and-place task. Thirty subjects used a teleoperation system consisting of a haptic device worn on the subject's right hand, a remote PR2 humanoid robot, and a Vicon motion capture system to move an object to a target location...
January 2017: IEEE Transactions on Haptics
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