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IEEE Transactions on Haptics

Valerie S Morash, Alexander Russomanno, R Brent Gillespie, Sile OModhrain
Refreshable displays for tactile graphics are typically composed of pins that have smaller diameters and spacing than standard braille dots. We investigated configurations of high-density pins to form braille text on such displays using non-refreshable stimuli produced with a 3D printer. Normal dot braille (diameter 1.5 mm) was compared to high-density dot braille (diameter 0.75 mm) wherein each normal dot was rendered by high-density simulated pins alone or in a cluster of pins configured in a diamond, X, or square; and to "blobs" that could result from covering normal braille and high-density multi-pin configurations with a thin membrane...
October 13, 2017: IEEE Transactions on Haptics
Jeroen Van Oosterhout, Cock J M Heemskerk, Marco R de Baar, Frans C T van der Helm, David A Abbink
Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.
October 4, 2017: IEEE Transactions on Haptics
Reza Haghighi Osgouei, Jin Ryong Kim, Seungmoon Choi
Electrovibration technology has the potential for seamless integration into ordinary smartphones and tablets to provide programmable haptic feedback. The aim of this work is to seek effective ways to improve 3D perception of visual objects rendered on an electrovibration display. Utilizing a gradient-based algorithm, we first investigated whether rendering only lateral frictional force on an electrovibration display improves 3D shape perception compared to doing the same using a force-feedback interface. We observed that although users do not naturally associate electrovibration patterns to geometrical shapes, they can map patterns to shapes with moderate accuracy if guidance or context is given...
October 2017: IEEE Transactions on Haptics
Jonas Schmidtler, Klaus Bengler
Collaborative power amplifying robots are accepted as one solution to overcome flexibility and ergonomic issues in future work and life scenarios. Handling of various sized and weighted objects in heterogeneous environments pose a particular challenge to the often applied admittance control. Haptic illusions, especially the Size-Weight Illusion (SWI), where the smaller of two equally weighted objects is perceived to be heavier, can have malicious, disturbing or to some extent useful influence on system stability and usability...
September 29, 2017: IEEE Transactions on Haptics
Antoine Lassagne, Andras Kemeny, Javier Posselt, Frederic Merienne
This article presents a comparison of different haptic systems, which are designed to simulate flat Human Machine Interfaces (HMIs) like touchscreens in virtual environments (VEs) such as CAVEs, and their respective performance. We compare a tangible passive transparent slate to a classic tablet and a sensory substitution system. These systems were tested during a controlled experiment. The performance and impressions from 20 subjects were collected to understand more about the modalities in the given context...
September 22, 2017: IEEE Transactions on Haptics
Francesco Chinello, Claudio Pacchierotti, Monica Malvezzi, Domenico Prattichizzo
We present a novel 3RRS wearable fingertip device for the rendering of stiffness. It is composed of a static upper body and a mobile end-effector. The upper body is located on the nail side of the finger, supporting three servo motors, and the mobile end-effector is in contact with the finger pulp. The two parts are connected by three articulated legs, actuated by the motors. The end-effector can move toward the user's fingertip and rotate it to simulate contacts with arbitrarily-oriented surfaces. Moreover, a vibrotactile motor placed below the end-effector conveys vibrations to the fingertip...
September 21, 2017: 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
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
Pietro Cerveri, Mauro Quinzi, Dario Bovio, Carlo Albino 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...
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
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