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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
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...
December 29, 2016: 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...
December 23, 2016: IEEE Transactions on Haptics
Jessica Dacleu Ndengue, B Ilaria Cesini, C Jenny Faucheu, D Eric Chatelet, E Hassan Zahouani, F David Delafosse, G Francesco Massi
The tactile perception of a surface texture is mediated by factors such as material, topography and vibrations induced by the sliding contact. In this paper, sensory characterizations are developed together with topographical and tribo-tactile characterizations to relate perceived features with objective measurements of tribological and dynamic signals. Two sets of surface samples are used in this study: the first set is made of a commercial floor covering tiles that aim at counter-typing natural wood flooring, with both a visual and a tactile texture mimicking wood...
December 22, 2016: IEEE Transactions on Haptics
Ginga Kato, Yoshihiro Kuroda, Ilana Nisky, Kiyoshi Kiyokawa, Haruo Takemura
Force feedback in tool-mediated interactions with the environment is important for the successful performance of complex tasks in daily life as well as in specialized fields such as medicine. Most stylus-based haptic devices require either grounding or attachment to the user's body. Recently, non-grounded haptic devices have attracted a growing interest. In this study, we propose a non-grounded rotation mechanism to represent the vertical forces applied on the tip of a tool by mimicking the cutaneous sensations that are caused by such forces...
December 12, 2016: IEEE Transactions on Haptics
Pietro Cerveri, Mauro Quinzi, Dario Bovio, Carlo Frigo
Artificial tactile sensing is a challenging research topic in robotics, motor control and rehabilitation engineering encompassing multi-disciplinary skills and different technologies. This paper presents the development of a wearable tactile thimble system using MEMS barometric sensors and flexible printed circuit board. Barometric sensors were carefully processed to make them able to transduce contact forces. Thumb, index and medium fingers were equipped with an array of six sensing elements each, covering the central, lateral and medial aspects of the fingertip...
December 7, 2016: 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
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
Xiao Xu, Clemens Schuwerk, Burak Cizmeci, Eckehard Steinbach
We study the combination of the perceptual deadband (PD)-based haptic packet rate reduction scheme with the time domain passivity approach (TDPA) for time-delayed teleoperation and propose a novel energy prediction (EP) scheme that deals with the conservative behavior of the resulting controller. The PD approach leads to irregular packet transmission, resulting in degraded system transparency and reduced teleoperation quality when the PD approach is combined with the TDPA. The proposed method (PD+TDPA+EP) adaptively predicts the system energy during communication interruptions and allows for larger energy output...
October 2016: IEEE Transactions on Haptics
Benoit P Delhaye, Erik W Schluter, Sliman J Bensmaia
Efforts are underway to restore sensorimotor function in amputees and tetraplegic patients using anthropomorphic robotic hands. For this approach to be clinically viable, sensory signals from the hand must be relayed back to the patient. To convey tactile feedback necessary for object manipulation, behaviorally relevant information must be extracted in real time from the output of sensors on the prosthesis. In the present study, we recorded the sensor output from a state-of-the-art bionic finger during the presentation of different tactile stimuli, including punctate indentations and scanned textures...
October 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), µ static 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...
October 2016: IEEE Transactions on Haptics
Maria C Dadarlat, Philip N 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 2016: IEEE Transactions on Haptics
Sara Contu, Charmayne Mary Lee 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...
October 2016: IEEE Transactions on Haptics
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