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IEEE Transactions on Haptics

Joseph Mullenbach, Michael Peshkin, J Edward Colgate
We describe a new haptic force feedback device capable of creating lateral shear force on a bare fingertip - the eShiver. The eShiver creates a net lateral force from in-plane oscillatory motion of a surface synchronized with a "friction switch" based on Johnsen-Rahbek electroadhesion. Using an artificial finger, a maximum net lateral force of 300 mN is achieved at 55 Hz lateral oscillation frequency, and net force is shown to be a function of velocity and applied voltage, as well as the phase between them...
November 17, 2016: IEEE Transactions on Haptics
Dangxiao Wang, Xiaohan Zhao, Youjiao Shi, Yuru Zhang, Jing Xiao
Six degree-of-freedom (DoF) haptic rendering of multi-region contacts between a moving hand avatar and varied-shaped components of a music instrument is fundamental to realizing interactive simulation of music playing. There are two aspects of computational challenges: first, some components have significantly small sizes in some dimensions, such as the strings on a seven-string plucked instrument (e.g. Guqin), which makes it challenging to avoid pop-through during multi-region contact scenarios. Second, deformable strings may produce high-frequency vibration, which requires simulating diversified and subtle force sensations when a hand interacts with strings in different ways...
November 14, 2016: IEEE Transactions on Haptics
Matti Strese, Clemens Schuwerk, Albert Iepure, Eckehard Steinbach
When a tool is tapped on or dragged over an object surface, vibrations are induced in the tool, which can be captured using acceleration sensors. The tool-surface interaction additionally creates audible sound waves, which can be recorded using microphones. Features extracted from camera images provide additional information about the surfaces. We present an approach for tool-mediated surface classification that combines these signals and demonstrate that the proposed method is robust against variable scan-time parameters...
November 7, 2016: IEEE Transactions on Haptics
Allan Barrea, David Cordova Bulens, Philippe Lefevre, Jean-Louis Thonnard
The static coefficient of friction (μstatic) plays an important role in dexterous object manipulation. Minimal normal force (i.e. grip force) needed to avoid dropping an object is determined by the tangential force at the fingertip-object contact and the frictional properties of the skin-object contact. Although frequently assumed to be constant for all levels of normal force (NF, the force normal to the contact), μstatic actually varies nonlinearly with NF and increases at low NF levels. No method is currently available to measure the relationship between μstatic and NF easily...
November 2, 2016: IEEE Transactions on Haptics
Takumi Yokosaka, Scinob Kuroki, Junji Watanabe, Shin'ya Nishida
We actively move our hands and eyes when exploring the external world and gaining information about an object's attributes. Previous studies showing that how we touch might be related to how we felt led us to consider whether we could decode observers' subjective tactile experience only by analyzing their exploratory movements without explicitly asking how they perceived. However, in those studies, explicit judgment tasks were performed about specific tactile attributes that were prearranged by experimenters...
October 28, 2016: IEEE Transactions on Haptics
Alvaro G Perez, Daniel Lobo, Francesco Chinello, Gabriel Cirio, Monica Malvezzi, Jose San Martin, Domenico Prattichizzo, Miguel A Otaduy
Novel wearable tactile interfaces offer the possibility to simulate tactile interactions with virtual environments directly on our skin. But, unlike kinesthetic interfaces, for which haptic rendering is a well explored problem, they pose new questions about the formulation of the rendering problem. In this work, we propose a formulation of tactile rendering as an optimization problem, which is general for a large family of tactile interfaces. Based on an accurate simulation of contact between a finger model and the virtual environment, we pose tactile rendering as the optimization of the device configuration, such that the contact surface between the device and the actual finger matches as close as possible the contact surface in the virtual environment...
October 20, 2016: IEEE Transactions on Haptics
Marta Franceschi, Lucia Seminara, Strahinja Dosen, Matjia Strbac, Maurizio Valle, Dario Farina
Myoelectric prostheses are successfully controlled using muscle electrical activity, thereby restoring lost motor functions. However, the somatosensory feedback from the prosthesis to the user is still missing. The sensory substitution methods described in the literature comprise mostly simple position and force sensors combined with discrete stimulation units. The present study describes a novel system for sophisticated electrotactile feedback integrating advanced distributed sensing (electronic skin) and stimulation (matrix electrodes)...
October 19, 2016: IEEE Transactions on Haptics
Nantachai Sornkarn, Thrishantha Nanayakkara
When humans are asked to palpate a soft tissue to locate a hard nodule, they regulate the stiffness, speed, and force of the finger during examination. If we understand the relationship between these behavioral variables and haptic information gain (transfer entropy) during manual probing, we can improve the efficacy of soft robotic probes for soft tissue palpation, such as in tumor localization in minimally invasive surgery. Here, we recorded the muscle co-contraction activity of the finger using EMG sensors to address the question as to whether joint stiffness control during manual palpation plays an important role in the haptic information gain...
October 19, 2016: IEEE Transactions on Haptics
Ryuichi Doizaki, Junji Watanabe, Maki Sakamoto
Several pairs of Japanese adjective words pertaining to a material's properties, such as roughness and hardness, have been used in Japanese studies to quantitatively evaluate variations in tactile sensations. This method asks observers to analyze their perceptual experiences one by one. An alternative notion is that human perceptual recognition is performed as a whole rather than by using fragmented factors. Based on this notion, we propose a system that can automatically estimate multidimensional ratings of touch from a single sound-symbolic word that has been spontaneously and intuitively expressed by a user...
October 18, 2016: IEEE Transactions on Haptics
Ali Talasaz, Ana Luisa Trejos, Rajni Patel
The lack of haptic feedback in roboticsassisted surgery can result in tissue damage or accidental tool-tissue hits. This paper focuses on exploring the effect of haptic feedback via direct force reflection and visual presentation of force magnitude on performance during robotics-assisted minimally invasive surgery (RAMIS) suturing. For this purpose, a haptics-enabled dual-arm master-slave teleoperation system capable of measuring tool-tissue interaction forces in all 7 Degrees-of-Freedom (DOFs) was used. Two suturing tasks, tissue puncturing and knottightening, were chosen to assess user skills when suturing on phantom tissue...
October 12, 2016: IEEE Transactions on Haptics
Maria Dadarlat, Philip Sabes
Naturalistic control of brain-machine interfaces will require artificial proprioception, potentially delivered via intracortical microstimulation (ICMS).We have previously shown that multi-channel ICMS can guide a monkey reaching to unseen targets in a planar workspace. Here, we expand on that work, asking how ICMS is decoded into target angle and distance by analyzing the performance of a monkey when ICMS feedback was degraded. From the resulting pattern of errors, we found that the animal's estimate of target direction was consistent with a weighted circular-mean strategy-close to the optimal decoding strategy given the ICMS encoding...
October 11, 2016: 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 behaviour 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...
September 29, 2016: IEEE Transactions on Haptics
Hongyi Xu, Jernej Barbic
We present an algorithm for fast continuous collision detection between points and signed distance fields, and demonstrate how to robustly use it for 6-DoF haptic rendering of contact between objects with complex geometry. Continuous collision detection is often needed in computer animation, haptics and virtual reality applications, but has so far only been investigated for polygon (triangular) geometry representations. We demonstrate how to robustly and continuously detect intersections between points and level sets of the signed distance field...
September 27, 2016: IEEE Transactions on Haptics
Jaeyoung Park, William Provancher, Hong Z Tan
We investigate the accuracy with which the haptic sharpness perception of a virtual edge is matched to that of a real edge and the effect of the virtual surface stiffness on the match. The perceived sharpness of virtual edges was estimated in terms of the point of subjective equality (PSE) when participants matched the sharpness of virtual edges to that of real edges with a radius of 0.5, 2.5 and 12.5 mm over a virtual stiffness range of 0.6 to 3.0 N/mm. The perceived sharpness of a real and a virtual edge of the same radius was significantly different under all but one of the experimental conditions and there was a significant effect of virtual surface stiffness on the accuracy of the match...
September 21, 2016: IEEE Transactions on Haptics
Sara Contu, Charmayne Hughes, Lorenzo Masia
The mechanisms that underlie the control of bimanual actions in which the two hands act separately to manipulate different objects (uncoupled independent control) has been well studied. In contrast, much less is known about how the central nervous system controls bimanual actions that require the two hands act cooperatively to manipulate a single object (dynamically coupled control). Furthermore, there is scant research into the manual lateralization and role assignment in the processing of visual and haptic feedback during dynamically coupled bimanual tasks...
September 16, 2016: IEEE Transactions on Haptics
Sofiane Ghenna, Eric Vezzoli, Christophe Giraud-Audine, Frederic Giraud, Michel Amberg, Betty Lemaire-Semail
In Variable Friction Tactile Displays, an ultrasonic standing wave can be used to reduce the friction coefficient between a user's finger sliding and a vibrating surface. However, by principle, the effect is limited by a saturation due to the contact mechanics, and very low friction levels require very high vibration amplitudes. Besides, to be effective, the user's finger has to move. We present a device which uses a travelling wave rather than a standing wave. We present a control that allows to realize such a travelling wave in a robust way, and thus can be implemented on various plane surfaces...
September 8, 2016: IEEE Transactions on Haptics
S Farokh Atashzar, Mahya Shahbazi, Christopher Ward, Olivia Samotus, Mehdi Delrobaei, Fariborz Rahimi, Jack Lee, Mallory Jackman, Mandar Jog, Rajni Patel
Abnormality of sensorimotor integration in the basal ganglia and cortex has been reported in the literature for patients with task-specific focal hand dystonia (FHD). In this study, we investigate the effect of manipulation of kinesthetic input in people living with writer's cramp disorder (a major form of FHD). For this purpose, severity of dystonia is studied for 11 participants while the symptoms of 7 participants have been tracked during 5 sessions of assessment and Botulinum toxin injection (BoNT-A) therapy (one of the current suggested therapies for dystonia)...
August 19, 2016: IEEE Transactions on Haptics
Tomohiro Amemiya, Koichi Hirota, Yasushi Ikei
The present study investigated whether a tactile flow created by a matrix of vibrators in a seat pan simultaneously presented with an optical flow in peripheral vision enhances the perceived forward velocity of self-motion. A brief tactile motion stimulus consisted of four successive rows of vibration, and the interstimulus onset between the tactile rows was varied to change the velocity of the tactile motion. The results show that the forward velocity of self-motion is significantly overestimated for rapid tactile flows and underestimated for slow ones, compared with optical flow alone or non-motion vibrotactile stimulation conditions...
August 5, 2016: 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...
July 28, 2016: IEEE Transactions on Haptics
Junsuk Kim, Yoon Gi Chung, Soon-Cheol Chung, Heinrich Bulthoff, Sung-Phil Kim
As the use of wearable haptic devices with vibrating alert features is commonplace, an understanding of the perceptual categorization of vibrotactile frequencies has become important. This understanding can be substantially enhanced by unveiling how neural activity represents vibrotactile frequency information. Using functional magnetic resonance imaging (fMRI), this study investigated categorical clustering patterns of the frequency-dependent neural activity evoked by vibrotactile stimuli with gradually changing frequencies from 20 to 200 Hz...
July 27, 2016: IEEE Transactions on Haptics
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