Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816137
H. Barreiro, S. Sinclair, M. Otaduy
When we interact with fluid media, e.g., with our hands, we experience a spatially and temporally varying pressure field on our skin, which depends on the density and viscosity of the fluid, as well as the relative motion between our hands and the surrounding flow. Ultrasound phased arrays stimulate skin in mid air by controlling pressure waves at particular spatial locations. In this work, we explore the connection between the pressure-based stimulation of ultrasound haptics and the actual pressure field experienced when interacting with fluid media, to devise a novel algorithm for ultrasound-based rendering of tactile interaction with fluids. Our algorithm extracts the target pressure field on a virtual hand from an interactive fluid simulation, and formulates the computation of the rendered pressure as an optimization problem. We have designed an efficient solver for this optimization problem, and we show results of interactive experiments with several fluid simulations.
{"title":"Ultrasound Rendering of Tactile Interaction with Fluids","authors":"H. Barreiro, S. Sinclair, M. Otaduy","doi":"10.1109/WHC.2019.8816137","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816137","url":null,"abstract":"When we interact with fluid media, e.g., with our hands, we experience a spatially and temporally varying pressure field on our skin, which depends on the density and viscosity of the fluid, as well as the relative motion between our hands and the surrounding flow. Ultrasound phased arrays stimulate skin in mid air by controlling pressure waves at particular spatial locations. In this work, we explore the connection between the pressure-based stimulation of ultrasound haptics and the actual pressure field experienced when interacting with fluid media, to devise a novel algorithm for ultrasound-based rendering of tactile interaction with fluids. Our algorithm extracts the target pressure field on a virtual hand from an interactive fluid simulation, and formulates the computation of the rendered pressure as an optimization problem. We have designed an efficient solver for this optimization problem, and we show results of interactive experiments with several fluid simulations.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"8 1","pages":"521-526"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73334914","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}
Pub Date : 2019-07-01DOI: 10.1109/WHC.2019.8816139
Zane A. Zook, Joshua J. Fleck, Tiffani W. Tjandra, M. O'Malley
Multi-sensory haptic systems have the potential to transfer a wide variety of information to a human user by delivering multiple types of haptic cues simultaneously. However, these systems may cause undesirable perceptual interference, which has already been observed in wearable systems that simultaneously convey skin stretch and squeeze cues. To investigate this observed perceptual interference, we conducted a psychophysical evaluation of the just-noticeable difference (JND) in skin stretch and squeeze cue magnitudes independently as well as in the presence of an interfering cue. A haptic testbed delivered each cue to a user’s proximal forearm. First, the JNDs of the two haptic cues were each measured alone. Then, the cues were delivered simultaneously and the JND values for stretch with squeeze interference and squeeze with stretch interference were measured. We found that the JND for the stretch cue increased with the addition of an interference squeeze cue, while the JND for the squeeze cue did not change with interference. Results suggest that there is an interference effect between multi-sensory haptic cues that, depending on cue type, can negatively impact haptic perception. Further development of multi-sensory devices that convey salient cues has the potential to mitigate this observed interference.
{"title":"Effect of Interference on Multi-Sensory Haptic Perception of Stretch and Squeeze","authors":"Zane A. Zook, Joshua J. Fleck, Tiffani W. Tjandra, M. O'Malley","doi":"10.1109/WHC.2019.8816139","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816139","url":null,"abstract":"Multi-sensory haptic systems have the potential to transfer a wide variety of information to a human user by delivering multiple types of haptic cues simultaneously. However, these systems may cause undesirable perceptual interference, which has already been observed in wearable systems that simultaneously convey skin stretch and squeeze cues. To investigate this observed perceptual interference, we conducted a psychophysical evaluation of the just-noticeable difference (JND) in skin stretch and squeeze cue magnitudes independently as well as in the presence of an interfering cue. A haptic testbed delivered each cue to a user’s proximal forearm. First, the JNDs of the two haptic cues were each measured alone. Then, the cues were delivered simultaneously and the JND values for stretch with squeeze interference and squeeze with stretch interference were measured. We found that the JND for the stretch cue increased with the addition of an interference squeeze cue, while the JND for the squeeze cue did not change with interference. Results suggest that there is an interference effect between multi-sensory haptic cues that, depending on cue type, can negatively impact haptic perception. Further development of multi-sensory devices that convey salient cues has the potential to mitigate this observed interference.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"4 1","pages":"371-376"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89233732","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.2019.8816117
Nick Colonnese, Sonny Chan
In this paper we define language and definitions to define the renderable set of dynamics that a general kinesthetic haptic display can render to a human operator. This is accomplished in three steps. First, we present a model that applies to every kinesthetic haptic display. Then, we define the Z-Qualities of a haptic display: characteristics that describe the display’s stability, sensitivity to instrumentation error, speed of changing the rendered dynamics, and accuracy of the rendered and desired dynamics. Finally, we define the Renderable Mass-Damping-Stiffness Spaces of a haptic display: the set of mass-damper-spring impedances that the display can render that satisfy specified Z-Quality constraints. We highlight existing key results for various Z-Qualities, and provide illustrative examples of renderable mass-damping-stiffness spaces for popular specified Z-Qualities ‘Passiva’ and ‘Stabila.’ This work aims to provide a framework for determining if a given haptic display can render dynamics with certain qualities, and we hope is particularly useful for psychophysical and scientific studies where accurate rendered dynamics to the human are essential.
{"title":"Z-Qualities and Renderable Mass-Damping-Stiffness Spaces: Describing the Set of Renderable Dynamics of Kinesthetic Haptic Displays","authors":"Nick Colonnese, Sonny Chan","doi":"10.1109/WHC.2019.8816117","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816117","url":null,"abstract":"In this paper we define language and definitions to define the renderable set of dynamics that a general kinesthetic haptic display can render to a human operator. This is accomplished in three steps. First, we present a model that applies to every kinesthetic haptic display. Then, we define the Z-Qualities of a haptic display: characteristics that describe the display’s stability, sensitivity to instrumentation error, speed of changing the rendered dynamics, and accuracy of the rendered and desired dynamics. Finally, we define the Renderable Mass-Damping-Stiffness Spaces of a haptic display: the set of mass-damper-spring impedances that the display can render that satisfy specified Z-Quality constraints. We highlight existing key results for various Z-Qualities, and provide illustrative examples of renderable mass-damping-stiffness spaces for popular specified Z-Qualities ‘Passiva’ and ‘Stabila.’ This work aims to provide a framework for determining if a given haptic display can render dynamics with certain qualities, and we hope is particularly useful for psychophysical and scientific studies where accurate rendered dynamics to the human are essential.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"74 2 1","pages":"325-330"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87794452","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.2019.8816167
Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun
Understanding physical properties of real-world haptic interaction is fundamental to create realistic virtual textures. Existing databases on haptic texture information are mainly constructed based on tool-surface interaction, which might be inappropriate to reveal the mechanical behavior of finger-texture interaction. In this paper, we introduce a haptic texture database of fabrics defined by friction force during the interaction between bare-finger and real-fabric. The database includes the friction force, the normal force applied by the fingertip, friction coefficient, displacement and velocity of the fingertip. These data were acquired when sliding a fingertip across 120 kinds of fabrics. We illustrate the application of the database through one example of haptic texture modeling and rendering, which allows users to feel virtual haptic texture on an electrostatic tactile display. In the end, we envision and exploit several potential applications for the database. The database is available online for free access and use by the research community.
{"title":"HapTex: A Database of Fabric Textures for Surface Tactile Display","authors":"Jian Jiao, Yuru Zhang, Dangxiao Wang, Xingwei Guo, Xiaoying Sun","doi":"10.1109/WHC.2019.8816167","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816167","url":null,"abstract":"Understanding physical properties of real-world haptic interaction is fundamental to create realistic virtual textures. Existing databases on haptic texture information are mainly constructed based on tool-surface interaction, which might be inappropriate to reveal the mechanical behavior of finger-texture interaction. In this paper, we introduce a haptic texture database of fabrics defined by friction force during the interaction between bare-finger and real-fabric. The database includes the friction force, the normal force applied by the fingertip, friction coefficient, displacement and velocity of the fingertip. These data were acquired when sliding a fingertip across 120 kinds of fabrics. We illustrate the application of the database through one example of haptic texture modeling and rendering, which allows users to feel virtual haptic texture on an electrostatic tactile display. In the end, we envision and exploit several potential applications for the database. The database is available online for free access and use by the research community.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"21 5 1","pages":"331-336"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76059849","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.2019.8816110
Rania Hassen, E. Steinbach
In this work, we present a novel vibrotactile coding scheme that encompasses a sparse linear predictor and a perceptual compressor. The predictor introduces a sparsity constraint both on the prediction coefficients and the residual. The prediction residual is then filtered and quantized using a human tactile sensitivity function generated from the vibrotactile detection threshold-frequency characteristics. Furthermore, a novel objective quality assessment method (ST-SIM) for vibrotactile signals that embraces perceptual spectral and temporal similarity measures is developed. ST-SIM is then used to evaluate and validate the overall signal quality and proposed compression scheme performance using different vibrotactile signal contents.
{"title":"Vibrotactile Signal Compression Based on Sparse Linear Prediction and Human Tactile Sensitivity Function","authors":"Rania Hassen, E. Steinbach","doi":"10.1109/WHC.2019.8816110","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816110","url":null,"abstract":"In this work, we present a novel vibrotactile coding scheme that encompasses a sparse linear predictor and a perceptual compressor. The predictor introduces a sparsity constraint both on the prediction coefficients and the residual. The prediction residual is then filtered and quantized using a human tactile sensitivity function generated from the vibrotactile detection threshold-frequency characteristics. Furthermore, a novel objective quality assessment method (ST-SIM) for vibrotactile signals that embraces perceptual spectral and temporal similarity measures is developed. ST-SIM is then used to evaluate and validate the overall signal quality and proposed compression scheme performance using different vibrotactile signal contents.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"49 1","pages":"301-306"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83606874","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}
Force feedback glove is a promising interface for producing immersive haptic sensation in virtual reality and teleoperation systems. One open problem of existing gloves is to simulate virtual objects with adjustable stiffness in a fast dynamic response, along with lightweight and good back-drivability. In this paper, we introduce a leverage pivot modulating mechanism to achieve variable stiffness simulation for force feedback gloves. To simulate free space operation, the revolute pairs of the mechanism move in the unlocked state, which allows the user to clench his/her fist or fully extend fingers. To simulate constrained space operation, the revolute pairs are locked and passive feedback forces are generated at the fingertip. The total weight of the single-finger prototype glove is 55g. Experimental results show that the backdrive force of the glove is less than 0.069N in the free space, and the fingertip force reaches up to 12.76N in the constrained space. The stiffness of the glove is tuned by changing its structural stiffness, which ranges from 136.96Nmm/rad to 3368.99Nmm/rad.
{"title":"Achieving High Stiffness Range of Force Feedback Gloves using Variable Stiffness Mechanism*","authors":"Yuan Guo, Dangxiao Wang, Ziqi Wang, X. Yang, Haitong Wang, Yuru Zhang, Weiliang Xu","doi":"10.1109/WHC.2019.8816160","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816160","url":null,"abstract":"Force feedback glove is a promising interface for producing immersive haptic sensation in virtual reality and teleoperation systems. One open problem of existing gloves is to simulate virtual objects with adjustable stiffness in a fast dynamic response, along with lightweight and good back-drivability. In this paper, we introduce a leverage pivot modulating mechanism to achieve variable stiffness simulation for force feedback gloves. To simulate free space operation, the revolute pairs of the mechanism move in the unlocked state, which allows the user to clench his/her fist or fully extend fingers. To simulate constrained space operation, the revolute pairs are locked and passive feedback forces are generated at the fingertip. The total weight of the single-finger prototype glove is 55g. Experimental results show that the backdrive force of the glove is less than 0.069N in the free space, and the fingertip force reaches up to 12.76N in the constrained space. The stiffness of the glove is tuned by changing its structural stiffness, which ranges from 136.96Nmm/rad to 3368.99Nmm/rad.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"85 1","pages":"205-210"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80916914","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.2019.8816176
Angélina Bellicha, Andrés Trujillo-León, W. Bachta
The Phantom Sensation is a case of spatiotemporal interaction. In this paper, we study the influence of the duration of a stimulation on the position of the perceived end-point of the illusion. We find that the position of the end-point is highly dependent on the duration of the stimulation. Three experiments have been conducted. Participants held an object delivering phantom sensations of different durations. We show that for durations ranging from 0.25 to 2.5s, the direction of the illusory motion is well perceived (experiment 1). We secondly show that for increased durations (> 0.75s), the perceived endpoint of the illusion can be located outside of the hand, inside the object held (experiment 2). We finally show that for increased durations (> 1.5s), the perceived end-point can be located even further, outside of the object held, i.e. beyond the intra-actuator space (experiment 3).
{"title":"Phantom Sensation: When the phantom escapes the bounds of the actuators and the end-point is sensed in the air","authors":"Angélina Bellicha, Andrés Trujillo-León, W. Bachta","doi":"10.1109/WHC.2019.8816176","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816176","url":null,"abstract":"The Phantom Sensation is a case of spatiotemporal interaction. In this paper, we study the influence of the duration of a stimulation on the position of the perceived end-point of the illusion. We find that the position of the end-point is highly dependent on the duration of the stimulation. Three experiments have been conducted. Participants held an object delivering phantom sensations of different durations. We show that for durations ranging from 0.25 to 2.5s, the direction of the illusory motion is well perceived (experiment 1). We secondly show that for increased durations (> 0.75s), the perceived endpoint of the illusion can be located outside of the hand, inside the object held (experiment 2). We finally show that for increased durations (> 1.5s), the perceived end-point can be located even further, outside of the object held, i.e. beyond the intra-actuator space (experiment 3).","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"52 1","pages":"91-96"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89924640","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.2019.8816075
Eric M. Young, Amirhossein H. Memar, Priyanshu Agarwal, Nick Colonnese
In this paper we present the design and control of Bellowband, a pneumatic wristband for localized pressure and vibration haptic feedback. The wristband has eight equally spaced pneumatic bellows that extend into the wrist, constructed from layers of polyester thermoplastic polyurethane (TPU), resulting in a flexible, lightweight (11 g) band capable of rendering complex pressure and vibration cues to the user. Each bellow can withstand over 100 kPa, extend over 10 mm, and exert over 10 N of force at zero displacement. Quasi-static analysis is performed to estimate bellow force for a given input pressure and bellow displacement, and the dynamic response is examined experimentally. Finally, we demonstrate the wristband’s ability to deliver various haptic cues to the wrist, including uniform squeeze, uniform vibration, local force, and local vibration. Bellowband is a thin, soft, low-encumbrance wristband that can provide meaningful haptic feedback, making it ideal for AR/VR environments.
{"title":"Bellowband: A Pneumatic Wristband for Delivering Local Pressure and Vibration","authors":"Eric M. Young, Amirhossein H. Memar, Priyanshu Agarwal, Nick Colonnese","doi":"10.1109/WHC.2019.8816075","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816075","url":null,"abstract":"In this paper we present the design and control of Bellowband, a pneumatic wristband for localized pressure and vibration haptic feedback. The wristband has eight equally spaced pneumatic bellows that extend into the wrist, constructed from layers of polyester thermoplastic polyurethane (TPU), resulting in a flexible, lightweight (11 g) band capable of rendering complex pressure and vibration cues to the user. Each bellow can withstand over 100 kPa, extend over 10 mm, and exert over 10 N of force at zero displacement. Quasi-static analysis is performed to estimate bellow force for a given input pressure and bellow displacement, and the dynamic response is examined experimentally. Finally, we demonstrate the wristband’s ability to deliver various haptic cues to the wrist, including uniform squeeze, uniform vibration, local force, and local vibration. Bellowband is a thin, soft, low-encumbrance wristband that can provide meaningful haptic feedback, making it ideal for AR/VR environments.","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"37 1","pages":"55-60"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89958417","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.2019.8816156
Hikaru Nagano, Kazuya Sase, M. Konyo, S. Tadokoro
Stimulus distribution on a finger pad dynamically changes during dynamic interactions such as manipulation or handling of an object. This is caused by the magnitude and direction of the applied force on the finger pad and the elasticity of materials handled. Several past studies proposed wearable tactile systems. However, generation of distributed stimuli on a finger pad (multiple degrees of freedom stimulation) has not yet been achieved. Herein, we propose a rendering system for stimulus distribution on a finger pad. The proposed system consists of a display using multi-channel suction that presents distributed stimuli to a finger pad skin, and a real-time simulator that calculates dynamic pressure distribution on the finger pad when in contact with an elastic object. The developed display has good wearability as lightweight (5 g) and compact because it does not have an actuator on the fingertip in spite of multiple outputs (16 suction ports). We performed two different experiments using the proposed system. These experiments proved that it is possible to present different stimulus distribution depending on the contact posture between a finger and an object (experiment 1) and to present the softness of the virtual material with different elasticity values (experiment 2).
{"title":"Wearable Suction Haptic Display with Spatiotemporal Stimulus Distribution on a Finger Pad","authors":"Hikaru Nagano, Kazuya Sase, M. Konyo, S. Tadokoro","doi":"10.1109/WHC.2019.8816156","DOIUrl":"https://doi.org/10.1109/WHC.2019.8816156","url":null,"abstract":"Stimulus distribution on a finger pad dynamically changes during dynamic interactions such as manipulation or handling of an object. This is caused by the magnitude and direction of the applied force on the finger pad and the elasticity of materials handled. Several past studies proposed wearable tactile systems. However, generation of distributed stimuli on a finger pad (multiple degrees of freedom stimulation) has not yet been achieved. Herein, we propose a rendering system for stimulus distribution on a finger pad. The proposed system consists of a display using multi-channel suction that presents distributed stimuli to a finger pad skin, and a real-time simulator that calculates dynamic pressure distribution on the finger pad when in contact with an elastic object. The developed display has good wearability as lightweight (5 g) and compact because it does not have an actuator on the fingertip in spite of multiple outputs (16 suction ports). We performed two different experiments using the proposed system. These experiments proved that it is possible to present different stimulus distribution depending on the contact posture between a finger and an object (experiment 1) and to present the softness of the virtual material with different elasticity values (experiment 2).","PeriodicalId":6702,"journal":{"name":"2019 IEEE World Haptics Conference (WHC)","volume":"45 1","pages":"389-394"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90232995","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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