Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816142
Nobuhiro Takahashi, Hayato Takahashi, H. Koike
We introduce a novel soft exoskeleton glove capable of generating human-like finger joint movements with little constraints on volitional motions. Four pneumatic artificial muscles (approx. 2.5 mm in diameter and less than 2 g weight) were attached to each finger. They form two antagonistic pairs of muscles (i.e. flexor and extensor) and thereby enable the control of several postures of each finger independently. Implementing this structure for all five digits resulted in a hand exoskeleton with 20 DOFs for one hand. This architecture was designed similar to the human anatomy of the forearm muscle, which eventually ensured supporting a natural, unconstrained hand motion. Our system is capable of generating a pressing force of approx. 8 N as a static force and can manipulate a finger to perform high-speed tapping at approx. 10 Hz. Finally, we describe a semi-automatic fitting system that helps to attach the glove easily to the user’s body. Early investigations indicate that the basic technology of our system can contribute domains that need to provide physical force feedback and posture correction to the user’s fingers.
{"title":"Soft Exoskeleton Glove Enabling Force Feedback for Human-Like Finger Posture Control with 20 Degrees of Freedom","authors":"Nobuhiro Takahashi, Hayato Takahashi, H. Koike","doi":"10.1109/WHC.2019.8816142","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816142","url":null,"abstract":"We introduce a novel soft exoskeleton glove capable of generating human-like finger joint movements with little constraints on volitional motions. Four pneumatic artificial muscles (approx. 2.5 mm in diameter and less than 2 g weight) were attached to each finger. They form two antagonistic pairs of muscles (i.e. flexor and extensor) and thereby enable the control of several postures of each finger independently. Implementing this structure for all five digits resulted in a hand exoskeleton with 20 DOFs for one hand. This architecture was designed similar to the human anatomy of the forearm muscle, which eventually ensured supporting a natural, unconstrained hand motion. Our system is capable of generating a pressing force of approx. 8 N as a static force and can manipulate a finger to perform high-speed tapping at approx. 10 Hz. Finally, we describe a semi-automatic fitting system that helps to attach the glove easily to the user’s body. Early investigations indicate that the basic technology of our system can contribute domains that need to provide physical force feedback and posture correction to the user’s fingers.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"13 1","pages":"217-222"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90546406","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.2019.8816162
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}
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.2019.8816116
Chaeyong Park, Jaeyoung Park, Seungjae Oh, Seungmoon Choi
This paper addresses the potential benefits of multimodal haptic feedback combining vibrotactile and impact stimuli for the target domain of virtual collision simulation. In this hybrid approach, we complement the limitation of each modality with the advantage of the other modality. We present the design of a hybrid device including both vibration and impact actuators and a physics-based rendering method for realistic collision simulation. We also report a user study carried out to comparatively assess the subjective quality of haptic collision rendering using vibration only, impact only, and multimodal (vibration + impact) stimuli. Experimental results demonstrate that our multimodal approach can contribute to critically expanding the dynamic range of virtual collision simulation, especially between highly stiff objects.
{"title":"Realistic Haptic Rendering of Collision Effects Using Multimodal Vibrotactile and Impact Feedback","authors":"Chaeyong Park, Jaeyoung Park, Seungjae Oh, Seungmoon Choi","doi":"10.1109/WHC.2019.8816116","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816116","url":null,"abstract":"This paper addresses the potential benefits of multimodal haptic feedback combining vibrotactile and impact stimuli for the target domain of virtual collision simulation. In this hybrid approach, we complement the limitation of each modality with the advantage of the other modality. We present the design of a hybrid device including both vibration and impact actuators and a physics-based rendering method for realistic collision simulation. We also report a user study carried out to comparatively assess the subjective quality of haptic collision rendering using vibration only, impact only, and multimodal (vibration + impact) stimuli. Experimental results demonstrate that our multimodal approach can contribute to critically expanding the dynamic range of virtual collision simulation, especially between highly stiff objects.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"26 1","pages":"449-454"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75341878","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.2019.8816153
Antoine Weill--Duflos, Feras Al Taha, Pascal E. Fortin, J. Cooperstock
Studies suggest that imbalances in speaking opportunities during meetings often lead to sub-optimal meeting outcomes. These imbalances can be due to a variety of reasons, including people’s perception of speakers and their voice. Indeed, speakers with higher pitched voices were shown to be perceived as having lower leadership ability. In an attempt at countering such voice-pitch related biases, this work introduces BarryWhaptics, a real-time speech-to-haptics conversion system that leverages multimodal perception to alter the listener’s perception of a speaker. The system operates by augmenting human speech with vibration, applying more intense vibrations to voices that would ordinarily be considered low in dominance. Results from a pilot study assessing the influence of the system in a decision-making task demonstrate that it can meaningfully influence how users choose to follow instructions given by one speaker over another.
{"title":"BarryWhaptics: Towards Countering Social Biases Using Real-Time Haptic Enhancement of Voice","authors":"Antoine Weill--Duflos, Feras Al Taha, Pascal E. Fortin, J. Cooperstock","doi":"10.1109/WHC.2019.8816153","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816153","url":null,"abstract":"Studies suggest that imbalances in speaking opportunities during meetings often lead to sub-optimal meeting outcomes. These imbalances can be due to a variety of reasons, including people’s perception of speakers and their voice. Indeed, speakers with higher pitched voices were shown to be perceived as having lower leadership ability. In an attempt at countering such voice-pitch related biases, this work introduces BarryWhaptics, a real-time speech-to-haptics conversion system that leverages multimodal perception to alter the listener’s perception of a speaker. The system operates by augmenting human speech with vibration, applying more intense vibrations to voices that would ordinarily be considered low in dominance. Results from a pilot study assessing the influence of the system in a decision-making task demonstrate that it can meaningfully influence how users choose to follow instructions given by one speaker over another.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"63 1","pages":"365-370"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86939161","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.2019.8816081
A. Dhiab, Charles Hudin
On a touch surface, providing a local vibrotactile feedback enables multiusers and multitouch interactions. While the vibration propagation usually impedes this localization, we show in this paper that narrow strip-shaped plates constitute waveguides in which bending waves below a cut-off frequency do not propagate. We provide a theoretical explanation of the phenomenon and experimental validations. We thus show that vibrations up to 2 kHz are well confined on top of the actuated area with vibration amplitude over 1 µm that can be felt by the fingers. The principle was validated with piezoelectric actuators of various shapes and a vibration motor.
{"title":"Confinement of Vibrotactile Stimuli in Narrow Plates","authors":"A. Dhiab, Charles Hudin","doi":"10.1109/WHC.2019.8816081","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816081","url":null,"abstract":"On a touch surface, providing a local vibrotactile feedback enables multiusers and multitouch interactions. While the vibration propagation usually impedes this localization, we show in this paper that narrow strip-shaped plates constitute waveguides in which bending waves below a cut-off frequency do not propagate. We provide a theoretical explanation of the phenomenon and experimental validations. We thus show that vibrations up to 2 kHz are well confined on top of the actuated area with vibration amplitude over 1 µm that can be felt by the fingers. The principle was validated with piezoelectric actuators of various shapes and a vibration motor.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"189 1","pages":"431-436"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79456207","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.2019.8816089
Jiayi Xu, Yoshihiro Kuroda, Shunsuke Yoshimoto, O. Oshiro
In recent years, thermal display has been studied intensively in order to represent a more realistic tactile quality of the object. Since human feels the temperature of the air without touching other objects, it is necessary to present thermal sensation in a non-contact manner. Studies on non-contact heat display have been explored; however, few studies have reported on a device that can display cold in a non-contact manner. In this study, we propose a non-contact cold thermal display using a low-temperature heat source—vortex tube, which can generate ultra-low air temperature when supplied with compressed air. We developed a cooling model that relates the flow velocity of cold air with the absorbed heat from skin; we implemented a prototype system that can control the flow velocity of the generated air; and we conducted an experiment to examine the cold sensation that the system can present. Our results revealed that various cold sensations can be generated so that the faster the flow velocity, the colder a user would feel.
{"title":"Non-contact Cold Thermal Display by Controlling Low-temperature Air Flow Generated with Vortex Tube","authors":"Jiayi Xu, Yoshihiro Kuroda, Shunsuke Yoshimoto, O. Oshiro","doi":"10.1109/WHC.2019.8816089","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816089","url":null,"abstract":"In recent years, thermal display has been studied intensively in order to represent a more realistic tactile quality of the object. Since human feels the temperature of the air without touching other objects, it is necessary to present thermal sensation in a non-contact manner. Studies on non-contact heat display have been explored; however, few studies have reported on a device that can display cold in a non-contact manner. In this study, we propose a non-contact cold thermal display using a low-temperature heat source—vortex tube, which can generate ultra-low air temperature when supplied with compressed air. We developed a cooling model that relates the flow velocity of cold air with the absorbed heat from skin; we implemented a prototype system that can control the flow velocity of the generated air; and we conducted an experiment to examine the cold sensation that the system can present. Our results revealed that various cold sensations can be generated so that the faster the flow velocity, the colder a user would feel.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"11 1","pages":"133-138"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78426531","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.2019.8816138
Duncan Raitt, P. Fairhurst, Calum Michael, Zoltan Melkes, Yeongmi Kim, M. Harders
We describe the design of and initial tests with the OCTA display – a new haptic interface which utilizes a novel tactile display in the form of eight dynamic triangular panels. The proposed device can render virtual height maps in 2.5D through the manipulation of these panels. Through integration with an optical sensor (similar to a standard computer peripheral mouse) to control cursor position, and the use of custom made software, for generating elevation information, the device varies the shape of the display so that virtual shapes may be explored in real-time. This paper outlines the hardware, software, and operation of the device, and describes a static and dynamic user study. These pilot studies indicate that simple static configurations of the OCTA display can be effectively recognized, with shapes using a 6 mm elevation range exhibiting a 90 % identification rate. The device also yielded a significantly higher dynamic identification rate than a single panel device.
{"title":"OCTA Display: A Pin-Actuated Triangle-Surface Fingertip Shape Display – Design & Initial Tests","authors":"Duncan Raitt, P. Fairhurst, Calum Michael, Zoltan Melkes, Yeongmi Kim, M. Harders","doi":"10.1109/WHC.2019.8816138","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816138","url":null,"abstract":"We describe the design of and initial tests with the OCTA display – a new haptic interface which utilizes a novel tactile display in the form of eight dynamic triangular panels. The proposed device can render virtual height maps in 2.5D through the manipulation of these panels. Through integration with an optical sensor (similar to a standard computer peripheral mouse) to control cursor position, and the use of custom made software, for generating elevation information, the device varies the shape of the display so that virtual shapes may be explored in real-time. This paper outlines the hardware, software, and operation of the device, and describes a static and dynamic user study. These pilot studies indicate that simple static configurations of the OCTA display can be effectively recognized, with shapes using a 6 mm elevation range exhibiting a 90 % identification rate. The device also yielded a significantly higher dynamic identification rate than a single panel device.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"31 1","pages":"479-484"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87889650","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.2019.8816132
Kenta Kumagai, K. Shimonomura
We proposed an event-based tactile image sensor that provides tactile information with high temporal and spatial resolution. The sensor consists of an elastomer fingertip in which 361 markers are embedded and an event-based camera which detects temporal changes of intensity in each pixel. When the force is applied to the soft fingertip, it deforms and markers in the fingertip also move. Each pixel in the event-based camera responds to the motion of makers and generates events. Temporal resolution of the proposed tactile sensor is 500 μs and the number of pixels of the event-based camera used here is 128×128. The proposed sensor can detect fast phenomena in contacts and also measure the spatial contact pattern such as contact position and orientation.
{"title":"Event-based Tactile Image Sensor for Detecting Spatio-Temporal Fast Phenomena in Contacts","authors":"Kenta Kumagai, K. Shimonomura","doi":"10.1109/WHC.2019.8816132","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816132","url":null,"abstract":"We proposed an event-based tactile image sensor that provides tactile information with high temporal and spatial resolution. The sensor consists of an elastomer fingertip in which 361 markers are embedded and an event-based camera which detects temporal changes of intensity in each pixel. When the force is applied to the soft fingertip, it deforms and markers in the fingertip also move. Each pixel in the event-based camera responds to the motion of makers and generates events. Temporal resolution of the proposed tactile sensor is 500 μs and the number of pixels of the event-based camera used here is 128×128. The proposed sensor can detect fast phenomena in contacts and also measure the spatial contact pattern such as contact position and orientation.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"217 1","pages":"343-348"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74175043","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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