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IEEE Transactions on Haptics

Yoren Gaffary, Ferran Argelaguet Sanz, Maud Marchal, Adrien Girard, Florian Gosselin, Mathieu Emily, Anatole Lecuyer
This paper studies the possibility to convey information using tactile stimulation on fingertips. We designed and evaluated three tactile alphabets which are rendered by stretching the skin of the index's fingertip: (1) a Morse-like alphabet, (2) a symbolic alphabet using two successive dashes, and (3) a display of Roman letters based on the Unistrokes alphabet. All three alphabets (26 letters each) were evaluated through a user study in terms of recognition rate, intuitiveness and learning. Participants were able to perceive and recognize the letters with very good results (80%-97% recognition rates)...
July 11, 2018: IEEE Transactions on Haptics
Yasemin Vardar, Burak Guclu, Cagatay Basdogan
Future touch screen applications will include multiple tactile stimuli displayed simultaneously or consecutively to single finger or multiple fingers. These applications should be designed by considering human tactile masking mechanism since it is known that presenting one stimulus may interfere with the perception of the other. In this study, we investigate the effect of masking on tactile perception of electrovibration displayed on touch screens. Through conducting psychophysical experiments with nine subjects, we measured the masked thresholds of sinusoidal electrovibration bursts (125 Hz) under two masking conditions: simultaneous and pedestal...
July 11, 2018: IEEE Transactions on Haptics
Tomohiro Fukuda, Yoshihiro Tanaka, Astrid Maria Louise Kappers, Michitaka Fujiwara, Akihito Sano
We aim to achieve intraoperative localization of an early-stage gastric tumor that cannot be visually detected during laparoscopic surgery. In this study, we developed and evaluated a pneumatic tactile ring, which is a clinically applicable tactile device to provide instantaneous feedback from a tactile sensor directly manipulated by a surgeon. It was designed to be worn on the finger of the manipulating hand and to present pressure to the finger pad. It is lightweight, cost-effective, disposable, and sterilizable...
July 10, 2018: IEEE Transactions on Haptics
Jaeyoung Park, Yonghwan Oh, Hong Z Tan
We investigate the effect of adding cutaneous cues to kinesthetic feedback on the perception of a virtual object's hardness. A cutaneous haptic interface is designed to deliver hardness information to a user's fingertip along with a force-feedback interface, and the corresponding rendering strategy is implemented. Two sets of experiments are conducted to evaluate the proposed approach for hardness perception using one-finger touch and two-finger grasp. Experimental results indicate that the addition of cutaneous feedback can make the virtual surface feel significantly harder than the nominal stiffness delivered by force-feedback alone...
July 10, 2018: IEEE Transactions on Haptics
Mohamad Eid, Akiko Teranishi, Georgios Korres, Wanjoo Park
It has been shown in previous studies that haptic guidance improves the learning outcomes of handwriting motor skills. Full and partial haptic guidance are developed and evaluated in the literature. In this paper, we present two experimental studies to examine whether combining full and partial haptic guidance is more effective for improving handwriting skills than merely full or partial guidance methods. Experiment I, with 22 participants, compares the effectiveness of merely full and partial haptic guidance methods towards improving learning outcomes of Arabic handwriting...
June 29, 2018: IEEE Transactions on Haptics
Jocelyn Monnoyrer, Emmanuelle Diaz, Christophe Bourdin, Michael Wiertlewski
The distinct tactile feedback provided by mechanical keyboards notifies users that their actions have been successfully recorded. The presence of these subtle yet informative tactile cues is one of the reasons why mechanical keyboards are still preferred to their virtual counterparts. An artificial sensation of pressing a mechanical switch can be produced by varying the coefficient of friction as the user is pressing down on a glass surface using ultrasonic vibration. We examined the factors involved in producing a vivid sensation of a stimulus by measuring the mechanical impedance, the frictional behavior of the fingertip and the perceptual thresholds...
June 5, 2018: IEEE Transactions on Haptics
Kosuke Higashi, Shogo Okamoto, Yoji Yamada
Humans perceive the hardness of objects from damped natural vibrations by tapping their surfaces. We investigated the roles of six parameters characterizing the vibration in the virtual and real environments. The effects of some parameters differed between the two environments. This finding warns the developers of haptic applications.
May 29, 2018: IEEE Transactions on Haptics
Hikaru Nagano, Shogo Okamoto, Yoji Yamada
Subjective responses related to touch are described via perceptual and affective adjectives. Understanding relationships among such responses is useful for industrial surface design. We developed a method for investigating relationships among touch related responses by constructing multilayered adjective models without assumptions regarding model structure such as adjective hierarchy or a defnition of layers. The method consists of two processes through which a model structure and parameters are estimated. To acquire the model structure, subjectively evaluated causal relationships among adjective pairs are used...
May 25, 2018: IEEE Transactions on Haptics
Shane Thomas Forbrigger, Ya-Jun Pan
The realism or transparency of haptic interfaces is becoming more critical as they are applied to training in fields like minimally invasive surgery (MIS). Surgical training simulators must provide a transparent virtual environment (VE) at a high update rate. Complex, deformable, cuttable tissue models have nonlinear dynamics and are computationally expensive, making it difficult to provide sufficient update rates. The objective of this work is to improve the transparency for this type of VE by formulating the unknown nonlinear dynamics as a quasi-linear parameter varying (LPV) system and designing a predictor to provide an output at a much higher update rate...
May 22, 2018: IEEE Transactions on Haptics
Filipe Veiga, Jan Peters, Tucker Hermans
Controlling contact with arbitrary, unknown objects defines a fundamental problem for robotic grasping and in-hand manipulation. In real-world scenarios, where robots interact with a variety of objects, the sheer number of possible contact interactions prohibits acquisition of the necessary models for all objects of interest. As an alternative to traditional control approaches that require accurate models, predicting the onset of slip can enable controlling contact interactions without explicit model knowledge...
May 21, 2018: IEEE Transactions on Haptics
Knut Drewing, Claire Weyel, Hevi Celebi, Dilan Kaya
Participants manually explored 47 solid, fluid and granular materials and rated them according to a list of sensory and affective attributes. In principal component analyses (PCA) of sensory ratings, we extracted six dimensions: Fluidity, Roughness, Deformability, Fibrousness, Heaviness, Granularity. PCAs on affective ratings revealed Valence, Arousal, and Dominance. PCAs explained 87% of variance or more. We found sensory dimensions beyond the surface characteristics on which many previous studies had focused, and the affective dimension of Dominance which previously had not been reported-probably due to our wide range of materials...
May 15, 2018: IEEE Transactions on Haptics
Muhammad Khurram Saleem, Cetin Yilmaz, Cagatay Basdogan
To render haptic cues on a touchscreen by friction modulation, it is important to understand how human perceive a change in friction. In this study, we investigate the relations between perceived change in friction on an ultrasonically actuated touchscreen and parameters involved in contact between finger and its surface. We first estimate the perceptual thresholds to detect rising and falling friction while finger is sliding on the touch surface. Then, we conduct magnitude estimation experiments and investigate the effect of finger sliding velocity, normal force, and transition time on the perceived magnitude of change in friction...
April 27, 2018: IEEE Transactions on Haptics
Yusuke Kishishita, Kazuhiro Takemura, Naoki Yamada, Toshihiro Hara, Atsuhide Kishi, Kazuo Nishikawa, Takahide Nouzawa, Toshio Tsuji, Yuichi Kurita
Humans feel forces or weights while grasping and manipulating an object. There is a difference between the physical and perceived forces because the physical characteristics of an object and/or human psychophysical characteristics affect perceived force. Sense of effort plays an important role in deciding the movement made by humans. In this study, we propose a computational method to predict the perceived force by evaluating the muscle activity as a function of effort in the operation of a steering wheel based on a 3D musculoskeletal model simulation...
April 19, 2018: IEEE Transactions on Haptics
Dapeng Chen, Aiguo Song, Lei Tian, Yuqing Yu, Lifeng Zhu
Touch screen technology supplies a new approach to interact with virtual environments. For haptic interaction on a touch screen, haptic devices that are capable of simultaneously conveying tactile and force information to users are highly desired for enhancing the sense of reality and immersion. To this end, a prototype haptic interface, called MH-Pen, was developed and fabricated to display the virtual interactive information through multi-mode haptic feedback. The MH-Pen is a self-contained system that provides vibrotactile feedback and precise force feedback by integrating three types of actuators...
April 13, 2018: IEEE Transactions on Haptics
Gregory John Gerling, Steven Conrad Hauser, Bryan R Soltis, Alexis K Bowen, Kathryn D Fanta, Yuxiang Wang
Understanding how we perceive differences in material compliance, or 'softness,' is a central topic in the field of haptics. The intrinsic elasticity of an object is the primary factor thought to influence our perceptual estimates. Therefore, most studies test and report the elasticity of their stimuli, typically as stiffness or modulus. However, many reported estimates are of very high magnitude for silicone-elastomers, which may be due to artifacts in characterization technique. This makes it very difficult to compare the perceptual results between the studies...
April 10, 2018: IEEE Transactions on Haptics
Rocco Rizzo, Antonino Musolino, Lynette A Jones
Smart materials such as magnetorheological fluids (MRF) offer an interesting technology for use in haptic displays as changes in the magnetic field are rapid, reversible, and controllable. These interfaces have been evaluated in a number of medical and surgical simulators where they can provide cues regarding the viscoelastic properties of tissues. The objective of the present set of experiments was first to determine whether a shape embedded in the MRF could be precisely localized and second whether 10 shapes rendered in a MRF haptic display could be accurately identified...
April 2018: IEEE Transactions on Haptics
Paul Phamduy, John-Ross Rizzo, Todd E Hudson, Marina Torre, Kalle Levon, Maurizio Porfiri
Research into sensory substitution systems has expanded, as alternative senses are utilized in real-time to afford object recognition or spatial understanding. Tactile stimulation has long shown promise as a communicatory strategy when applied unobtrusively to the redundant surface areas of the skin. Here, a novel belt, integrating a matrix of macro fiber composites, is purposed to deliver tactile stimuli to the abdomen. The design and development of the belt is presented and a systematic experimental study is conducted to analyze the impact of frequency and duty cycle...
April 2018: IEEE Transactions on Haptics
Waseem Hassan, Arsen Abdulali, Muhammad Abdullah, Sang Chul Ahn, Seokhee Jeon
In this paper, we focused on building a universal haptic texture models library and automatic assignment of haptic texture models to any given surface from the library based on image features. It is shown that a relationship exists between perceived haptic texture and its image features, and this relationship is effectively used for automatic haptic texture model assignment. An image feature space and a perceptual haptic texture space are defined, and the correlation between the two spaces is found. A haptic texture library was built, using 84 real life textured surfaces, by training a multi-class support vector machine with radial basis function kernel...
April 2018: IEEE Transactions on Haptics
Craig Shultz, Michael Peshkin, J Edward Colgate
We report an electroadhesive approach to controlling friction forces on sliding fingertips which is capable of producing vibrations across an exceedingly broad range of tactile, audible, and ultrasonic frequencies. Vibrations on the skin can be felt directly, and vibrations in the air can be heard emanating from the finger. Additionally, we report evidence from an investigation of the electrical dynamics of the system suggesting that an air gap at the skin/surface interface is primarily responsible for the induced electrostatic attraction underlying the electroadhesion effect...
April 2018: IEEE Transactions on Haptics
Jan Smisek, Winfred Mugge, Jeroen B J Smeets, Marinus M van Paassen, Andre Schiele
In haptic shared control systems (HSC), a fixed strength of guidance force equates to a fixed level of control authority, which can be insufficient for complex tasks. An adaptable control authority based on operator input can allow the HSC system to better assist the operator under varied conditions. In this paper, we experimentally investigate () an adaptable authority HSC system that provides the operator with a direct way to adjust the control authority based on applied grip force. This system can serve as an intuitive 'manual override' function in case of HSC system malfunction...
April 2018: IEEE Transactions on Haptics
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