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IEEE Transactions on Haptics

Ian R Summers, Svetlana Pitts-Yushchenko, C Peter Winlove
An improved model of the Pacinian corpuscle includes corrections for lamellar curvature. Results suggest that outer-zone lamellae produce a focusing effect whereby stimuli are channeled radially inwards. The requirements for this effect (large outer-surface area and thin, closely spaced lamellae) provide a rationale for the complexity of the outer-zone structure.
January 2018: IEEE Transactions on Haptics
Seung-Chan Kim, Byung-Kil Han, Dong-Soo Kwon
In this paper, we present a robotic surface display that physically imitates the orientation of virtual 3D geometry touched through a 2D flat screen. The proposed approach renders the surface orientation of 3D geometry such that users can tactually obtain relative geometric information, which plays a significant role in the process of real-world haptic object perception. Taking advantage of the planar aspect of touch surfaces, the system constructs a rotation matrix to control the pose of a surface with minimal mechanical movements with given partial geometric information (i...
January 2018: IEEE Transactions on Haptics
Nadine Besse, Samuel Rosset, Juan Jose Zarate, Elisabetta Ferrari, Luca Brayda, Herbert Shea
We present a fully latching and scalable 4 × 4 haptic display with 4 mm pitch, 5 s refresh time, 400 mN holding force, and 650 μm displacement per taxel. The display serves to convey dynamic graphical information to blind and visually impaired users. Combining significant holding force with high taxel density and large amplitude motion in a very compact overall form factor was made possible by exploiting the reversible, fast, hundred-fold change in the stiffness of a thin shape memory polymer (SMP) membrane when heated above its glass transition temperature...
January 2018: IEEE Transactions on Haptics
Won-Hyeong Park, Eun-Jae Shin, Sungryul Yun, Sang-Youn Kim
In this paper, we propose a soft vibrotactile actuator made by mixing silicon dioxide nanoparticles and plasticized PVC gel. The effect of the silicon dioxide nanoparticles in the plasticized PVC gel for the haptic performance is investigated in terms of electric, dielectric, and mechanical properties. Furthermore, eight soft vibrotactile actuators are prepared as a function of the content. Experiments are conducted to examine the haptic performance of the prepared eight soft vibrotactile actuators and to find the best weight ratio of the plasticized PVC gel to the nanoparticles...
January 2018: IEEE Transactions on Haptics
Seongcheol Mun, Sungryul Yun, Saekwang Nam, Seung Koo Park, Suntak Park, Bong Je Park, Jeong Mook Lim, Ki-Uk Kyung
This paper reports soft actuator based tactile stimulation interfaces applicable to wearable devices. The soft actuator is prepared by multi-layered accumulation of thin electro-active polymer (EAP) films. The multi-layered actuator is designed to produce electrically-induced convex protrusive deformation, which can be dynamically programmable for wide range of tactile stimuli. The maximum vertical protrusion is and the output force is up to 255 mN. The soft actuators are embedded into the fingertip part of a glove and front part of a forearm band, respectively...
January 2018: IEEE Transactions on Haptics
Gunhyuk Park, Seungmoon Choi
The authors of "A Physics-Based Vibrotactile Feedback Library for Collision Events" which appeared in the July-September 2017 issue of this journal [ibid., vol. 10, no. 3, pp. 325-337, Jul.-Sep. 2017] would like to update their Acknowledgments section to say: The authors thank Jong-Rak Park for his discussion on the physics of multi-body collision and vibration. This work was supported by an MSIP/IITP grant (No. 16ZC1300), an IITP grant (No. 2017-0-00179), and an NRF grant (No. NRF-2017R1A2B4008144), all funded by the Korean government...
January 2018: 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
Naoki Takizawa, Hiroaki Yano, Hiroo Iwata, Yukio Oshiro, Nobuhiro Ohkohchi
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...
October 2017: IEEE Transactions on Haptics
Serena Bochereau, Brygida Dzidek, Michael 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...
October 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...
October 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...
October 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...
October 2017: IEEE Transactions on Haptics
Randy Lee, Roberta L Klatzky, George D 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...
October 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...
October 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 "Pokémon 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...
October 2017: IEEE Transactions on Haptics
Peter B Shull, Xiangyang Zhu, Mark R Cutkosky
The purpose of this paper was to determine human movement tracking performance in response to vibrotactile feedback tracking for predictable and unpredictable continuous movement tasks. Thirteen subjects performed elbow flexion/extension and knee flexion/extension continuous movement tracking tasks while receiving tactile stimulation proportional to limb joint position error. Subjects followed 0.2-2.0 Hz desired movements for predictable tasks (single sinusoid) and unpredictable tasks (combination of three sinusoids)...
October 2017: IEEE Transactions on Haptics
Siyan Zhao, Ali Israr, Micah Fenner, Roberta L Klatzky
Information provided by sensory systems is inherently ambiguous as to its source in the physical world. To arrive at a coherent representation, perception deploys heuristic rules and multimodal input, which potentially produce errors such as illusions. The current work uses these effects to create apparent tactile motion and illusory depth motion using sparse vibrotactile stimulation across the hands. Experiment 1 showed the effects of vibrotactile duration and temporal separation between the hands on the quality of perceived illusory linear motion...
October 2017: IEEE Transactions on Haptics
Sahba Aghajani Pedram, Roberta L Klatzky, Peter Berkelman
Despite the fact that conventional haptic interfaces and rendering algorithms commonly approximate interactions with force only, the dynamic effects of even simple tasks, e.g., writing on a paper, involve both forces and torques. To extend previous algorithms as well as to investigate the effects of torque feedback on human roughness perception, we deployed a novel haptic platform with two probes, fingertip and penhandle. Three torque conditions were examined: 1) Slope Torque, which orients the probe perpendicular to the surface, 2) No Torque, where no active torque is provided by the device, and 3) Stiff Torque, where torque feedback is provided to keep the probe upright...
October 2017: IEEE Transactions on Haptics
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