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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
Conrad Steven Hauser, Gregory John Gerling
Grasping and manipulating an object requires us to perceive its material compliance. Compliance is thought to be encoded by relationships of force, displacement and contact area at the finger pad. Prior work suggests that objects must be sufficiently deformed to become discriminable, but the utility of time-dependent cues has not been fully explored. The studies herein find that the availability of force-rate cues improve compliance discriminability so as to require less deformation of stimulus and finger pad...
June 15, 2017: IEEE Transactions on Haptics
Julie Walker, Heather Culbertson, Michael Raitor, Allison Okamura
This paper presents a system of two double-gimbal control moment gyroscopes (CMGs) for providing ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite the first, and rotating them through opposite trajectories, undesired gyroscopic effects can be eliminated, isolating a single torque axis. This produces a moment pulse proportional to the flywheel spin speed and rotation speed. Rotating the CMG gimbals quickly in one direction, then resetting them more slowly generates repeated torque pulses indicating a clear direction cue...
June 7, 2017: IEEE Transactions on Haptics
Huanhuan Qin, Aiguo Song, Zhan Gao, Yuqing Liu, Guohua Jiang
Multi-finger operations provide realistic and natural methods when interacting with remote or virtual environment. Hence, haptic devices with multi-finger input are highly desirable. MR (Magneto-rheological) actuators are preferable options in haptics, because they can produce larger passive torque and have larger torque-volume ratios than the conventional actuators. Among the existing haptic MR actuators, most of them are still bulky and heavy. If they were smaller and lighter, they would become more suitable for haptics...
May 29, 2017: IEEE Transactions on Haptics
Yasemin Vardar, Burak Guclu, Cagatay Basdogan
In this study, we investigated the effect of input voltage waveform on our haptic perception of electrovibration on touch screens. Through psychophysical experiments performed with eight subjects, we first measured the detection thresholds of electrovibration stimuli generated by sinusoidal and square voltages at various fundamental frequencies. We observed that the subjects were more sensitive to stimuli generated by square wave voltage than sinusoidal one for frequencies lower than 60 Hz. Using Matlab simulations, we showed that the sensation difference of waveforms in low fundamental frequencies occurred due to the frequency-dependent electrical properties of human skin and human tactile sensitivity...
May 16, 2017: IEEE Transactions on Haptics
Claudio Pacchierotti, Stephen Sinclair, Massimiliano Solazzi, Antonio Frisoli, Vincent Hayward, Domenico Prattichizzo
In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way...
May 9, 2017: IEEE Transactions on Haptics
Randy Lee, Roberta Klatzky, George Stetten
Surgeons routinely perform surgery with noisy, sub-threshold, or obscured visual and haptic feedback, either due to the necessary surgical approach, or because the systems on which they are operating are exceedingly delicate. Technological solutions incorporating haptic feedback augmentation have been proposed to address these difficulties, but the consequences for motor control have not been directly investigated and quantified. In this paper, we present two isometric force generation tasks performed with a hand-held robotic tool that provides in-situ augmentation of force sensation...
April 24, 2017: IEEE Transactions on Haptics
Shahrzad Abbasi Baharanchi, Majid MohammadBeigi, Fatemeh Abnavi, Samira Tavakol
Reading is a complex process that requires various simultaneous brain processes. One of the most common types of reading disorders is developmental dyslexia, and one of the objectives of speech therapy sessions for children with developmental dyslexia is to increase their auditory discrimination. One of the most commonly used Auditory Discrimination Tests (ADTs) is Wepman's Auditory Discrimination Test (WADT). It includes minimal pair words categorized by characteristics of vowels and consonants. The goal of this research is to design and implement a tactile stimulation device based on Wepman's test to increase auditory discrimination in children with developmental dyslexia in therapy sessions, so that while playing each word for the children, vibrational cues are presented to their left palm and fingers...
April 24, 2017: IEEE Transactions on Haptics
Maurizio Maisto, Claudio Pacchierotti, Francesco Chinello, Gionata Salvietti, Alessandro De Luca, Domenico Prattichizzo
Although Augmented Reality (AR) has been around for almost five decades, only recently we have witnessed AR systems and applications entering in our everyday life. Representative examples of this technological revolution are the smartphone games "PokĀ“emon GO" and "Ingress" or the Google Translate real-time sign interpretation app. Even if AR applications are already quite compelling and widespread, users are still not able to physically interact with the computer-generated reality. In this respect, wearable haptics can provide the compelling illusion of touching the superimposed virtual objects without constraining the motion or the workspace of the user...
April 5, 2017: IEEE Transactions on Haptics
Eric Vezzoli, Zlatko Vidrih, 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 optimized by measuring the contact phase shift between a finger pad and a vibrating plate...
April 2017: IEEE Transactions on Haptics
Thomas Sednaoui, Eric Vezzoli, Brygida 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...
April 2017: IEEE Transactions on Haptics
Clemens Schuwerk, Xiao Xu, Eckehard Steinbach
This paper studies the transparency of client/server-based haptic interaction with simulated deformable objects. In the considered remote interaction scenario, the server simulates the computationally expensive finite-element-based object deformation at a low temporal update rate and transmits the result to the clients. There, the received deformation data is applied to the polygon mesh, which is used to locally render force feedback with a penalty-based force rendering algorithm at the required high rate. Based on a one-dimensional deformable object example, we analyze the transparency of this multi-rate architecture for a two-user interaction...
April 2017: IEEE Transactions on Haptics
Taku Hachisu, Hiroyuki Kajimoto
We investigated the effect of vibration feedback latency on material perception during a tapping interaction using a rod device. When a user taps a surface, the perception of the material can be modulated by providing a decaying sinusoidal vibration at the moment of contact. To achieve this haptic material augmentation on a touchscreen, a system that can measure the approach velocity and provide vibration with low latency is required. To this end, we developed a touchscreen system that is capable of measuring the approach velocity and providing vibration feedback via a rod device with latency of 0...
April 2017: 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...
April 2017: IEEE Transactions on Haptics
Takumi Yokosaka, Scinob Kuroki, Junji Watanabe, Shinya Nishida
We actively move our hands and eyes when exploring the external world and gaining information about 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 experiences 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...
April 2017: 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...
April 2017: IEEE Transactions on Haptics
Marta Franceschi, Lucia Seminara, Strahinja Dosen, Matija 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)...
April 2017: 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...
April 2017: 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...
April 2017: IEEE Transactions on Haptics
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