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IEEE Transactions on Haptics

Randall B Hellman, Cem Tekin, Mihaela van der Schaar, Veronica J Santos
Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp...
September 18, 2017: IEEE Transactions on Haptics
Lei Wei, Hailing Zhou, Saeid Nahavandi
This paper presents a method to alleviate performance degradation issues of Haptic Collision Detection when the Bounding Volumes or Bounding Volume Hierarchies of multiple disjoint objects are overlapping or inclusive and force the Haptic Collision Detection methods into narrow phase collision detection with all involved objects. The proposed method aims to generate tighter, mutually exclusive Bounding Volumes at the pre-processing stage, and to quickly cull irrelevant nearby objects at the broad phase to ensure that the Haptic Collision Detection methods will not be overloaded with unnecessary narrow phase collision detection...
September 8, 2017: IEEE Transactions on Haptics
Takeshi Tanabe, Hiroaki Yano, Hiroo Iwata
This paper describes the properties of proprioceptive sensations induced by asymmetric vibration using a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude signal that is generated by inverting a part of a sine wave is input. In this paper, to verify the system with respect to various factors of force perception caused by asymmetric vibration, we conducted six experiments and the following results were obtained...
August 29, 2017: IEEE Transactions on Haptics
Michael Walker, Kyle Brandon Reed
This research investigated several haptic interfaces designed to reduce mistakes in Morse code reception. Results concluded that a bimanual setup, discriminating dots/dashes by left/right location, reduced the amount of errors to only 56.6% of the errors compared to a unimanual setup that used temporal discrimination to distinguish dots and dashes.
August 24, 2017: IEEE Transactions on Haptics
Guohong Liu, Xiaoying Sun, Dangxiao Wang, Yue Liu, Yuru Zhang
Recently, many studies examined electrostatic tactile feedback on touch screens to enrich interaction experience. However, it is unclear as to whether added tactile feedback during a sliding process increases the accuracy of pan gestures with velocity constraints. In this study, a custom-designed electrostatic tactile display was considered. Initially, the accuracy and efficiency of pan gestures were compared under two conditions, namely with and without electrostatic tactile feedback. This was followed by exploring the evolution of completion time (CT) with different indices of difficulties (ID)...
August 21, 2017: IEEE Transactions on Haptics
Dangxiao Wang, Cong Peng, Naqash Afzal, Weiang Li, Dong Wu, Yuru Zhang
To present information using vibrotactile stimuli in wearable devices, it is fundamental to understand human performance of localizing vibrotactile cues across the skin surface. In this paper, we studied human ability to identify locations of multiple vibrotactile cues activated simultaneously on both arms. Two haptic bands were mounted in proximity to the elbow and shoulder joints on each arm, and two vibrotactile motors were mounted on each band to provide vibration cues to the dorsal and palmar side of the arm...
August 21, 2017: IEEE Transactions on Haptics
Mikel Sagardia, Thomas Hulin
What are the technological bottlenecks in virtual assembly simulations with haptic feedback? To tackle this question, we present an evaluation study in which real feedback modalities are gradually replaced by synthetic ones. In particular, the effects of the following factors on the user performance and perception during virtual assemblies are analyzed: (i) a visual feedback system consisting of an nVisor head-mounted display, (ii) our haptic device HUG suited for unscaled upper-body movements, and (iii) our novel six-DoF constraint-based haptic rendering algorithm...
August 18, 2017: IEEE Transactions on Haptics
Naoki Takizawa, Hiroaki Yano, Hiroo Iwata, Yukio Oshiro, Nobuhiro Ohkohch
This paper describes the development of an encountered-type haptic interface that can generate the physical characteristics, such as shape and rigidity, of three-dimensional (3D) virtual objects using an array of newly developed non-expandable balloons. To alter the rigidity of each non-expandable balloon, the volume of air in it is controlled through a linear actuator and a pressure sensor based on Hooke's law. Furthermore, to change the volume of each balloon, its exposed surface area is controlled by using another linear actuator with a trumpet-shaped tube...
August 17, 2017: IEEE Transactions on Haptics
Simone Fani, Simone Ciotti, Edoardo Battaglia, Alessandro Moscatelli, Matteo Bianchi
Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user's finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors...
August 7, 2017: IEEE Transactions on Haptics
Serena Bochereau, Brygida Dzidek, Mike Adams, Vincent Hayward
We describe an instrument intended to study finger contacts under tangential dynamic loading. This type of loading is relevant to the natural conditions when touch is used to discriminate and identify the properties of the surfaces of objects --- it is also crucial during object manipulation. The system comprises a high performance tribometer able to accurately record in vivo the components of the interfacial forces when a finger interacts with arbitrary surfaces which is combined with a high-speed, high-definition imaging apparatus...
July 4, 2017: IEEE Transactions on Haptics
Megumi Nakao, Masayuki Senoo, Tetsuya Matsuda
In this study, to quantitatively understand finger operations used to manipulate elastic objects, we explore robust fingertip-based feature descriptors that are invariant to operator, finger position, and target object. To measure the tactile information generated when an object is directly touched by a fingertip, we used a wearable system that enables the simultaneous measurement of fingertip position and strain without inhibiting the operator?s sense of touch. This paper focuses on the quantitative classification of the push and stroke operations of a single finger, and conducted user experiments to obtain time-series fingertip position and strain from 10 subjects touching nine types of elastic objects...
June 27, 2017: IEEE Transactions on Haptics
Samuel Benjamin Schorr, Allison M 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...
July 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...
July 2017: IEEE Transactions on Haptics
Jeonggoo Kang, Heewon Kim, Seungmoon Choi, Ki-Duk Kim, Jeha Ryu
This paper presents three methods of input voltage signals that allow low voltage operation of an electrovibration display while preserving the perceptual feel and strength of electrovibration stimuli. The first method uses the amplitude modulation of a high-frequency carrier-signal. The second method uses a dc-offset, and the third method uses a combination of the two methods. The performance of the three methods was evaluated by a physical experiment that measured and analyzed static (dc-component) and dynamic (vibratory component) friction forces and two subsequent psychophysical studies...
July 2017: IEEE Transactions on Haptics
Seongkook Heo, Geehyuk Lee
This paper presents a method to generate a haptic illusion of compliance using a vibrotactile actuator when a tangential force is applied to a rigid surface. The novel method builds on a conceptual compliance model where a physical object moves on a textured surface in response to a tangential force. The method plays vibration patterns simulating friction-induced vibrations as an applied tangential force changes. We built a prototype consisting of a two-dimensional tangential force sensor and a surface transducer to test the effectiveness of the model...
July 2017: IEEE Transactions on Haptics
Gunhyuk Park, Seungmoon Choi
We present PhysVib: a software solution on the mobile platform extending an open-source physics engine in a multi-rate rendering architecture for automatic vibrotactile feedback upon collision events. PhysVib runs concurrently with a physics engine at a low update rate and generates vibrotactile feedback commands at a high update rate based on the simulation results of the physics engine using an exponentially-decaying sinusoidal model. We demonstrate through a user study that this vibration model is more appropriate to our purpose in terms of perceptual quality than more complex models based on sound synthesis...
July 2017: IEEE Transactions on Haptics
Angelica I Aviles, Samar M Alsaleh, James K Hahn, Alicia Casals
Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations that affect their outcome. One of them is the lack of force feedback which restricts the surgeon's sense of touch and might reduce precision during a procedure. To overcome this limitation, we propose a novel force estimation approach that combines a vision based solution with supervised learning to estimate the applied force and provide the surgeon with a suitable representation of it...
July 2017: IEEE Transactions on Haptics
Daniele Leonardis, Massimiliano Solazzi, Ilaria Bortone, Antonio Frisoli
A novel wearable haptic device for modulating contact forces at the fingertip is presented. Rendering of forces by skin deformation in three degrees of freedom (DoF), with contact-no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace. The device was designed to render constant to low frequency deformation of the fingerpad in three DoF, combining light weight with relatively high output forces...
July 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...
July 2017: IEEE Transactions on Haptics
Tianming Lu, Cecile Pacoret, David Heriban, Abdenbi Mohand-Ousaid, Stephane Regnier, Vincent Hayward
This paper describes a haptic interface that has a uniform response over the entire human tactile frequency range. Structural mechanics makes it very difficult to implement articulated mechanical systems that can transmit high frequency signals. Here, we separated the frequency range into two frequency bands. The lower band is within the first structural mode of the corresponding haptic device while the higher one can be transmitted accurately by a fast actuator operating from conservation of momentum, that is, without reaction forces to the ground...
July 2017: IEEE Transactions on Haptics
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