Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816175
M. Jamalzadeh, Burak Güçlü, Yasemin Vardar, C. Basdogan
Masking has been used to study human perception of tactile stimuli, including those created on haptic touch screens. Earlier studies have investigated the effect of in-site masking on tactile perception of electrovibration. In this study, we investigated whether it is possible to change the detection threshold of electrovibration at fingertip of index finger via remote masking, i.e. by applying a (mechanical) vibrotactile stimulus on the proximal phalanx of the same finger. The masking stimuli were generated by a voice coil (Haptuator). For eight participants, we first measured the detection thresholds for electrovibration at the fingertip and for vibrotactile stimuli at the proximal phalanx. Then, the vibrations on the skin were measured at four different locations on the index finger of subjects to investigate how the mechanical masking stimulus propagated as the masking level was varied. Finally, electrovibration thresholds were measured in the presence of vibrotactile masking stimuli. Our results show that vibrotactile masking stimuli generated sub-threshold vibrations around fingertip and, hence, probably did not mechanically interfere with the electrovibration stimulus. However, there was a clear psychophysical masking effect due to central neural processes. Electrovibration absolute threshold increased approximately 0.19 dB for each dB increase in the masking level.
{"title":"Effect of Remote Masking on Detection of Electrovibration","authors":"M. Jamalzadeh, Burak Güçlü, Yasemin Vardar, C. Basdogan","doi":"10.1109/WHC.2019.8816175","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816175","url":null,"abstract":"Masking has been used to study human perception of tactile stimuli, including those created on haptic touch screens. Earlier studies have investigated the effect of in-site masking on tactile perception of electrovibration. In this study, we investigated whether it is possible to change the detection threshold of electrovibration at fingertip of index finger via remote masking, i.e. by applying a (mechanical) vibrotactile stimulus on the proximal phalanx of the same finger. The masking stimuli were generated by a voice coil (Haptuator). For eight participants, we first measured the detection thresholds for electrovibration at the fingertip and for vibrotactile stimuli at the proximal phalanx. Then, the vibrations on the skin were measured at four different locations on the index finger of subjects to investigate how the mechanical masking stimulus propagated as the masking level was varied. Finally, electrovibration thresholds were measured in the presence of vibrotactile masking stimuli. Our results show that vibrotactile masking stimuli generated sub-threshold vibrations around fingertip and, hence, probably did not mechanically interfere with the electrovibration stimulus. However, there was a clear psychophysical masking effect due to central neural processes. Electrovibration absolute threshold increased approximately 0.19 dB for each dB increase in the masking level.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"118 1","pages":"229-234"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75771484","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816091
Indrajit Desai, Abhishek Gupta, D. Chakraborty
Rendering stiff virtual walls is of interest in the haptics domain. As one of the approaches, stiff springs can be rendered by adding virtual damping in an impedance controlled haptic interface. In this paper, we study the effect of incorporation of virtual mass on maximum renderable stiffness of a bilateral wall. The haptic interface is analyzed as a discrete time state-space system using exact discretization technique. Analytical stability boundary is obtained by solving for the roots of the characteristics polynomial. The main result of the paper shows that the maximum stiffness is rendered when the mass feedback is close to the mass of the device. For the devices with low inertia this means, at low frequencies, a high stiffness can be stably rendered with little compromise on the transparency of the system. Experiments performed on a single degree of freedom haptic interface validate the analytical results. The uncoupled stability of the interface is verified for the response of the device for initial displacement condition. The accuracy of displayed stiffness is validated when the user interacts with the wall. This further ensures the coupled stability of the device for the performed experiments. We show that the maximum stiffness achieved with virtual mass is about 2.5 times higher than that can be achieved with virtual damping.
{"title":"Virtual Mass Feedback for Rendering Stiff Virtual Springs","authors":"Indrajit Desai, Abhishek Gupta, D. Chakraborty","doi":"10.1109/WHC.2019.8816091","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816091","url":null,"abstract":"Rendering stiff virtual walls is of interest in the haptics domain. As one of the approaches, stiff springs can be rendered by adding virtual damping in an impedance controlled haptic interface. In this paper, we study the effect of incorporation of virtual mass on maximum renderable stiffness of a bilateral wall. The haptic interface is analyzed as a discrete time state-space system using exact discretization technique. Analytical stability boundary is obtained by solving for the roots of the characteristics polynomial. The main result of the paper shows that the maximum stiffness is rendered when the mass feedback is close to the mass of the device. For the devices with low inertia this means, at low frequencies, a high stiffness can be stably rendered with little compromise on the transparency of the system. Experiments performed on a single degree of freedom haptic interface validate the analytical results. The uncoupled stability of the interface is verified for the response of the device for initial displacement condition. The accuracy of displayed stiffness is validated when the user interacts with the wall. This further ensures the coupled stability of the device for the performed experiments. We show that the maximum stiffness achieved with virtual mass is about 2.5 times higher than that can be achieved with virtual damping.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"6 1","pages":"211-216"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74986429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816152
P. Sharma, Akansha Pio Pio Britto, N. Aggarwal, B. Hughes
In two experiments we investigated blindfolded, sighted participants’ capacity to extract the number of raised dots from arrays of braille cells via active touch. The arrays could contain between one and 12 raised dots and estimates were based on scanning with one or more fingers on one or both hands (Experiment 1), or when the dots were as spatially compact or as spatially separated as the braille code permits (Experiment 2). We found participants’ estimates of numerosity increased in a strongly linear fashion with actual numerosity, and confidence in the judgment declined linearly with increasing numerosity. Finger combinations made no difference to accuracy, errors, or confidence. Spatially compacting the configuration of dots had the effect of diminishing perceptual accuracy, exaggerating underestimation and reducing confidence. We found partial evidence that perceptual accuracy was particularly high with up to six raised dots but beyond six, accuracy and confidence both diminished and variance increased. We interpret the results in terms of haptic information processing demands in space and time.
{"title":"Raised dot number perception (subitizing?) via haptic exploration*","authors":"P. Sharma, Akansha Pio Pio Britto, N. Aggarwal, B. Hughes","doi":"10.1109/WHC.2019.8816152","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816152","url":null,"abstract":"In two experiments we investigated blindfolded, sighted participants’ capacity to extract the number of raised dots from arrays of braille cells via active touch. The arrays could contain between one and 12 raised dots and estimates were based on scanning with one or more fingers on one or both hands (Experiment 1), or when the dots were as spatially compact or as spatially separated as the braille code permits (Experiment 2). We found participants’ estimates of numerosity increased in a strongly linear fashion with actual numerosity, and confidence in the judgment declined linearly with increasing numerosity. Finger combinations made no difference to accuracy, errors, or confidence. Spatially compacting the configuration of dots had the effect of diminishing perceptual accuracy, exaggerating underestimation and reducing confidence. We found partial evidence that perceptual accuracy was particularly high with up to six raised dots but beyond six, accuracy and confidence both diminished and variance increased. We interpret the results in terms of haptic information processing demands in space and time.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"83 1","pages":"103-108"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76132282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816090
De-Ru Tsai, W. Hsu
A new type of a large-area multi-touch tactile device operated by electrotactile stimulation is proposed. Being able to stimulate as many types of mechanoreceptors as possible, the use of electrical stimulation is widespread. However, the area of a device is usually limited because the more electrodes a device is composed of, the more difficult wires are placed if we want to deliver different signals to different regions of one touch panel simultaneously. To get closer to the possibility of integrating multi-touch tactile devices operated by electrotactile stimulation into smartphones or other flat-panel displays, this paper focuses on developing a large-area electrotactile display device driven by electrotactile stimulation that can fully cover smartphones, which has the advantages of larger touched area and better resolution comparing to traditional ones. It is also capable of delivering different stimulation simultaneously on the same surface. The new type of touch panel with cathodes-surrounding anodes taking responsibility for delivering signals and cathodes playing the role of switches to divide signals.
{"title":"A new type of a large-area multi-touch tactile device operated by electrotactile stimulation","authors":"De-Ru Tsai, W. Hsu","doi":"10.1109/WHC.2019.8816090","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816090","url":null,"abstract":"A new type of a large-area multi-touch tactile device operated by electrotactile stimulation is proposed. Being able to stimulate as many types of mechanoreceptors as possible, the use of electrical stimulation is widespread. However, the area of a device is usually limited because the more electrodes a device is composed of, the more difficult wires are placed if we want to deliver different signals to different regions of one touch panel simultaneously. To get closer to the possibility of integrating multi-touch tactile devices operated by electrotactile stimulation into smartphones or other flat-panel displays, this paper focuses on developing a large-area electrotactile display device driven by electrotactile stimulation that can fully cover smartphones, which has the advantages of larger touched area and better resolution comparing to traditional ones. It is also capable of delivering different stimulation simultaneously on the same surface. The new type of touch panel with cathodes-surrounding anodes taking responsibility for delivering signals and cathodes playing the role of switches to divide signals.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"111 1","pages":"313-318"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77065733","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816074
Xiao Xu, E. Steinbach
This paper extends the state-of-the-art multi-Dof time domain passivity approach (TDPA), leading to more flexible usability and improved user experience in time-delayed teleoperation. TDPA is an effective method to guarantee stable teleoperation in the presence of communication delay. As the TDPA has gained increasing attention, several studies have focused on extending the originally proposed one-degree-of-freedom (1-Dof) TDPA to multi-Dof. In this paper, we describe that the existing multi-Dof TDPA introduces additional distortions which do not appear in the 1-Dof TDPA. More specifically, motion in one direction can cause distortion (force fluctuation and position drift) even perpendicular to the motion. We name this phenomenon cross-dimensional artifact (CDA). The CDA leads to disturbed teleoperation control and degraded user experience. To address this issue, we first offer a deep analysis of this CDA. Then, we propose a projection-based multi-Dof TDPA extension and suggest a corresponding adaptation to eliminate the CDA. Subjective experiments show that the proposed adaptation is able to remove the distortions caused by the CDA and improve the user experience for sliding tasks and perceiving object surface features.
{"title":"Elimination of Cross-dimensional Artifacts in the Multi-Dof Time Domain Passivity Approach for Time-delayed Teleoperation with Haptic Feedback","authors":"Xiao Xu, E. Steinbach","doi":"10.1109/WHC.2019.8816074","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816074","url":null,"abstract":"This paper extends the state-of-the-art multi-Dof time domain passivity approach (TDPA), leading to more flexible usability and improved user experience in time-delayed teleoperation. TDPA is an effective method to guarantee stable teleoperation in the presence of communication delay. As the TDPA has gained increasing attention, several studies have focused on extending the originally proposed one-degree-of-freedom (1-Dof) TDPA to multi-Dof. In this paper, we describe that the existing multi-Dof TDPA introduces additional distortions which do not appear in the 1-Dof TDPA. More specifically, motion in one direction can cause distortion (force fluctuation and position drift) even perpendicular to the motion. We name this phenomenon cross-dimensional artifact (CDA). The CDA leads to disturbed teleoperation control and degraded user experience. To address this issue, we first offer a deep analysis of this CDA. Then, we propose a projection-based multi-Dof TDPA extension and suggest a corresponding adaptation to eliminate the CDA. Subjective experiments show that the proposed adaptation is able to remove the distortions caused by the CDA and improve the user experience for sliding tasks and perceiving object surface features.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"29 1","pages":"223-228"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81245714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816103
Steven Cutlip, J. Freudenberg, N. Cowan, R. Gillespie
According to the internal model principle from control engineering, error feedback together with a controller containing an internal model that generates an expected disturbance signal can achieve perfect delay-tolerant disturbance rejection using only modest loop gains. While internal models of plant dynamics have been central to the study of human motor control, internal models of reference or disturbance signal generators have received very little attention. In this paper we show how the internal model principle suggests a certain control strategy for achieving steady oscillatory motion in a virtual spring-mass. The strategy relies on haptic feedback in its dual roles of carrying power and information and this dual reliance may be used to derive numerous testable hypotheses. We present results from an initial study involving N=5 human subjects in which high time-correlation between surface electromyography and commanded torque signals suggests the adoption of a control strategy based on the internal model principle.
{"title":"Haptic Feedback and the Internal Model Principle","authors":"Steven Cutlip, J. Freudenberg, N. Cowan, R. Gillespie","doi":"10.1109/WHC.2019.8816103","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816103","url":null,"abstract":"According to the internal model principle from control engineering, error feedback together with a controller containing an internal model that generates an expected disturbance signal can achieve perfect delay-tolerant disturbance rejection using only modest loop gains. While internal models of plant dynamics have been central to the study of human motor control, internal models of reference or disturbance signal generators have received very little attention. In this paper we show how the internal model principle suggests a certain control strategy for achieving steady oscillatory motion in a virtual spring-mass. The strategy relies on haptic feedback in its dual roles of carrying power and information and this dual reliance may be used to derive numerous testable hypotheses. We present results from an initial study involving N=5 human subjects in which high time-correlation between surface electromyography and commanded torque signals suggests the adoption of a control strategy based on the internal model principle.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"253 1","pages":"568-573"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79457217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816172
S. Papetti, Martin Fröhlich, S. Schiesser
The TouchBox is a low-cost human-computer interface yielding advanced auditory and vibrotactile feedback, made available in open-source form. It offers affordances similar to small touchscreens and isometric pointing devices as it tracks the position of up to two finger-pads in contact with its top surface, measures their contact areas as well as the applied normal and lateral forces. The interface is the result of several design iterations that on the one hand optimized its sensing accuracy and output reliability, and on the other hand expanded its input capabilities so as to measure various quantities relevant to everyday finger-based interaction. Applications range from using the interface as a calibrated measurement device to advanced human-machine interaction.
{"title":"The TouchBox: an open-source audio-haptic device for finger-based interaction","authors":"S. Papetti, Martin Fröhlich, S. Schiesser","doi":"10.1109/WHC.2019.8816172","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816172","url":null,"abstract":"The TouchBox is a low-cost human-computer interface yielding advanced auditory and vibrotactile feedback, made available in open-source form. It offers affordances similar to small touchscreens and isometric pointing devices as it tracks the position of up to two finger-pads in contact with its top surface, measures their contact areas as well as the applied normal and lateral forces. The interface is the result of several design iterations that on the one hand optimized its sensing accuracy and output reliability, and on the other hand expanded its input capabilities so as to measure various quantities relevant to everyday finger-based interaction. Applications range from using the interface as a calibrated measurement device to advanced human-machine interaction.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"15 1","pages":"491-496"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81836141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816121
J. Grosbois, Raymond J. King, Massimiliano Di Luca, C. Parise, Rachel Bazen, Mounia Ziat
Exposure to a particular sensory stimulation for a prolonged period of time often results in changes in the associated perception of subsequent stimulation. Such changes can take the form of decreases in sensitivity and/or aftereffects. Aftereffects often result in a rebound in the perception of the associated stimulus property when presented with a novel stimulus. The current study sought to determine if such perceptual aftereffects could be experienced following tactile stimulation at a particular frequency. To this end, participants’ perception of a 5 Hz standard frequency stimulus was evaluated using an adaptive staircase psychophysical paradigm. Participants’ perception of the standard stimulus frequency was tested a second time following the adaptation to another stimulus frequency that was either lower (i.e., 2 Hz), the same (i.e., 5 Hz), or higher (i.e., 8 Hz) than the standard stimulus (i.e., 3 groups). Following adaptation, participants who received the 5 Hz or 8 Hz stimulation reported significantly lower estimates of the standard stimulus frequency relative to the 2 Hz group. Thus, the current work provides preliminary evidence that directional after-effects can be induced when the adapting stimulus is of equal or greater frequency relative to the test stimulus, but no such influence is observed when the adapting stimulus is less than the standard stimulus.
{"title":"The frequency of tactile adaptation systematically biases subsequent frequency identification*","authors":"J. Grosbois, Raymond J. King, Massimiliano Di Luca, C. Parise, Rachel Bazen, Mounia Ziat","doi":"10.1109/WHC.2019.8816121","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816121","url":null,"abstract":"Exposure to a particular sensory stimulation for a prolonged period of time often results in changes in the associated perception of subsequent stimulation. Such changes can take the form of decreases in sensitivity and/or aftereffects. Aftereffects often result in a rebound in the perception of the associated stimulus property when presented with a novel stimulus. The current study sought to determine if such perceptual aftereffects could be experienced following tactile stimulation at a particular frequency. To this end, participants’ perception of a 5 Hz standard frequency stimulus was evaluated using an adaptive staircase psychophysical paradigm. Participants’ perception of the standard stimulus frequency was tested a second time following the adaptation to another stimulus frequency that was either lower (i.e., 2 Hz), the same (i.e., 5 Hz), or higher (i.e., 8 Hz) than the standard stimulus (i.e., 3 groups). Following adaptation, participants who received the 5 Hz or 8 Hz stimulation reported significantly lower estimates of the standard stimulus frequency relative to the 2 Hz group. Thus, the current work provides preliminary evidence that directional after-effects can be induced when the adapting stimulus is of equal or greater frequency relative to the test stimulus, but no such influence is observed when the adapting stimulus is less than the standard stimulus.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"31 1","pages":"295-300"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83096938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816170
Weicheng Wu, Heather Culbertson
This paper presents the design of a novel haptic wearable device capable of creating the illusion of a continuous lateral motion on the forearm to mimic a stroking gesture commonly used in social touch. The device is composed of a fabric sleeve with a linear array of thermoplastic pneumatic actuators. The actuators are sequentially inflated and deflated, carefully controlling the amount of inflation of each actuator using an electronic pressure regulator. The travelling wave of pressure up the arm creates the illusion of lateral motion, even though no physical lateral motion occurs. We evaluate the device in a human-subject study to determine the optimal actuation parameters that create the most continuous and pleasant sensation. The results of the study indicate that short inflation times create a more continuous and pleasant sensation, but the pressure change during inflation does not affect continuity and pleasantness.
{"title":"Wearable Haptic Pneumatic Device for Creating the Illusion of Lateral Motion on the Arm","authors":"Weicheng Wu, Heather Culbertson","doi":"10.1109/WHC.2019.8816170","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816170","url":null,"abstract":"This paper presents the design of a novel haptic wearable device capable of creating the illusion of a continuous lateral motion on the forearm to mimic a stroking gesture commonly used in social touch. The device is composed of a fabric sleeve with a linear array of thermoplastic pneumatic actuators. The actuators are sequentially inflated and deflated, carefully controlling the amount of inflation of each actuator using an electronic pressure regulator. The travelling wave of pressure up the arm creates the illusion of lateral motion, even though no physical lateral motion occurs. We evaluate the device in a human-subject study to determine the optimal actuation parameters that create the most continuous and pleasant sensation. The results of the study indicate that short inflation times create a more continuous and pleasant sensation, but the pressure change during inflation does not affect continuity and pleasantness.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"43 1","pages":"193-198"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89170238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816162
J. Gandarias, Francisco Pastor, A. García-Cerezo, J. M. G. D. Gabriel
In this paper, a new concept of active tactile perception based on deep learning is presented. A tactile sensor is used to acquire sequences of tactile images of deformable objects when different forces are applied. Hence, the sequence of data can be represented by 3D tactile tensors in a similar way to the sequences of images represented in Magnetic Resonance Imaging (MRI). However, in this case, each 2D frame represents the pressure distribution when a certain force is applied, and the third dimension represents time or the variation of the applied force. Due to this feature of data, a 3D Convolutional Neural Network (3D CNN) called TactNet3D has been created to classify tactile information from 9 deformable objects. A dataset composed of 540 tactile sequences formed by [28×50×10] tactile tensors is used to train, validate and test the performance of TactNet3D, showing that it can classify deformable objects with an accuracy of 96.39% with time series of pressure distributions.
{"title":"Active Tactile Recognition of Deformable Objects with 3D Convolutional Neural Networks","authors":"J. Gandarias, Francisco Pastor, A. García-Cerezo, J. M. G. D. Gabriel","doi":"10.1109/WHC.2019.8816162","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816162","url":null,"abstract":"In this paper, a new concept of active tactile perception based on deep learning is presented. A tactile sensor is used to acquire sequences of tactile images of deformable objects when different forces are applied. Hence, the sequence of data can be represented by 3D tactile tensors in a similar way to the sequences of images represented in Magnetic Resonance Imaging (MRI). However, in this case, each 2D frame represents the pressure distribution when a certain force is applied, and the third dimension represents time or the variation of the applied force. Due to this feature of data, a 3D Convolutional Neural Network (3D CNN) called TactNet3D has been created to classify tactile information from 9 deformable objects. A dataset composed of 540 tactile sequences formed by [28×50×10] tactile tensors is used to train, validate and test the performance of TactNet3D, showing that it can classify deformable objects with an accuracy of 96.39% with time series of pressure distributions.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"12 1","pages":"551-555"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90471200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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