Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.17.61243dc4
Takaya Ishimaru, S. Saga
With the development of Virtual Reality (VR) technology, it is becoming possible to generate haptic sensations toward virtual objects. However, in the Augmented Reality (AR) environment with conventional haptic displays, it is difficult for the user to touch the object directly because the device enters between him/her and the touching object. Therefore, we propose to use electrical muscle stimulation (EMS) to present haptic sensations seamlessly in an AR environment. In this study, we constructed a system that reproduces bumps on a flat display using EMS. In addition, we conducted three psychophysical experiments to evaluate the effectiveness of our system.
{"title":"Virtual bumps display based on electrical muscle stimulation","authors":"Takaya Ishimaru, S. Saga","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.17.61243dc4","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.17.61243dc4","url":null,"abstract":"With the development of Virtual Reality (VR) technology, it is becoming possible to generate haptic sensations toward virtual objects. However, in the Augmented Reality (AR) environment with conventional haptic displays, it is difficult for the user to touch the object directly because the device enters between him/her and the touching object. Therefore, we propose to use electrical muscle stimulation (EMS) to present haptic sensations seamlessly in an AR environment. In this study, we constructed a system that reproduces bumps on a flat display using EMS. In addition, we conducted three psychophysical experiments to evaluate the effectiveness of our system.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"198 1","pages":"96-101"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85837409","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.3.3eea0b25
T. L. Baldi, N. D’Aurizio, D. Prattichizzo
In this work, we propose a novel method for hand guidance, combining grasping metaphor and wearable haptics. To guide the hand towards the desired orientation, the system generates vibrations exploiting the grasp theory, asking the user to align the perceived wrench with the gravity. To evaluate the system and demonstrate its potentiality, different vibrotactile feedback approaches have been tested. Both constant and error-depending vibration intensities were considered as feedback methods. Experimental results confirmed the capability of the proposed approach in guiding the hand of the users towards target orientations in a limited time with high accuracy. Users’ experience feedback, supported by the statistical analysis of the data, shows that providing information about the actual orientation error is crucial to accomplish the task in minor time.
{"title":"Hand Guidance Using Grasping Metaphor and Wearable Haptics","authors":"T. L. Baldi, N. D’Aurizio, D. Prattichizzo","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.3.3eea0b25","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.3.3eea0b25","url":null,"abstract":"In this work, we propose a novel method for hand guidance, combining grasping metaphor and wearable haptics. To guide the hand towards the desired orientation, the system generates vibrations exploiting the grasp theory, asking the user to align the perceived wrench with the gravity. To evaluate the system and demonstrate its potentiality, different vibrotactile feedback approaches have been tested. Both constant and error-depending vibration intensities were considered as feedback methods. Experimental results confirmed the capability of the proposed approach in guiding the hand of the users towards target orientations in a limited time with high accuracy. Users’ experience feedback, supported by the statistical analysis of the data, shows that providing information about the actual orientation error is crucial to accomplish the task in minor time.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"1 1","pages":"961-967"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83552879","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.74.13165668
Maximilian Kaluschke, René Weller, Niels Hammer, Luigi Pelliccia, Mario Lorenz, G. Zachmann
We present a novel haptic rendering method to simulate material removal in medical simulations at haptic rates. The core of our method is a new massively-parallel continuous collision detection algorithm in combination with a stable and flexible 6-DOF collision response scheme that combines penalty- and constraint-based force computation. Moreover, a volumetric object representation of the 3D objects allows us to derive a realistic local material model from experimental human cadaveric data, as well as support real-time continuous material removal. We have applied our algorithm to a hip replacement simulator and two dentistry-related simulations for root-canal opening and caries removal. The results show realistic continuous forces and torques at haptic rates.
{"title":"Realistic Haptic Feedback for Material Removal in Medical Simulations","authors":"Maximilian Kaluschke, René Weller, Niels Hammer, Luigi Pelliccia, Mario Lorenz, G. Zachmann","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.74.13165668","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.74.13165668","url":null,"abstract":"We present a novel haptic rendering method to simulate material removal in medical simulations at haptic rates. The core of our method is a new massively-parallel continuous collision detection algorithm in combination with a stable and flexible 6-DOF collision response scheme that combines penalty- and constraint-based force computation. Moreover, a volumetric object representation of the 3D objects allows us to derive a realistic local material model from experimental human cadaveric data, as well as support real-time continuous material removal. We have applied our algorithm to a hip replacement simulator and two dentistry-related simulations for root-canal opening and caries removal. The results show realistic continuous forces and torques at haptic rates.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"19 1","pages":"920-926"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90823347","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.18.6a51e1e1
Ming Gui, Xiao Xu, E. Steinbach
This paper proposes a novel haptic packet rate control scheme for networked teleoperation systems which improves the state-of-the-art perceptual deadband-based haptic data reduction approach. The proposed method uses a peak-suppressing adaptive deadband to mitigate the burstiness of the haptic traffic and to control the packet rate. Experimental results show that our method is able to reduce the overall network load by reducing the burstiness of the haptic data transmission. It can also stabilize haptic packet rate beneath a certain transmission limit while preserving a high quality of remote interaction.
{"title":"Adaptive Packet Rate Control for the Mitigation of Bursty Haptic Traffic in Teleoperation Systems","authors":"Ming Gui, Xiao Xu, E. Steinbach","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.18.6a51e1e1","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.18.6a51e1e1","url":null,"abstract":"This paper proposes a novel haptic packet rate control scheme for networked teleoperation systems which improves the state-of-the-art perceptual deadband-based haptic data reduction approach. The proposed method uses a peak-suppressing adaptive deadband to mitigate the burstiness of the haptic traffic and to control the packet rate. Experimental results show that our method is able to reduce the overall network load by reducing the burstiness of the haptic data transmission. It can also stabilize haptic packet rate beneath a certain transmission limit while preserving a high quality of remote interaction.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"13 1","pages":"134-139"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91028991","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.5.08241ef4
Siyeon Baik, Ilhwan Han, J. Park, Jaeyoung Park
Vibrotactile feedback is one of the most favored haptic feedback methods to provide tactile information to users. In spite of its popularity, vibrotactile feedback has been used in a limited range of VR applications. In the present study, we suggest two methodologies incorporating fingertip vibrotactile array interfaces for 3D Virtual Interaction. Our proposed methods use only four and five actuators while they can render continuous motion of contact points as well as the collision depth. We evaluated the feasibility of our fingertip interface systems with an experiment on the human perception of virtual object size. The experimental results indicate that the participants’ ability to perceive the size of a virtual object with our methods is comparable to the one rendered with a force feedback interface.
{"title":"Multi-Fingertip Vibrotactile Array Interface for 3D Virtual Interaction*","authors":"Siyeon Baik, Ilhwan Han, J. Park, Jaeyoung Park","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.5.08241ef4","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.5.08241ef4","url":null,"abstract":"Vibrotactile feedback is one of the most favored haptic feedback methods to provide tactile information to users. In spite of its popularity, vibrotactile feedback has been used in a limited range of VR applications. In the present study, we suggest two methodologies incorporating fingertip vibrotactile array interfaces for 3D Virtual Interaction. Our proposed methods use only four and five actuators while they can render continuous motion of contact points as well as the collision depth. We evaluated the feasibility of our fingertip interface systems with an experiment on the human perception of virtual object size. The experimental results indicate that the participants’ ability to perceive the size of a virtual object with our methods is comparable to the one rendered with a force feedback interface.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"19 1","pages":"898-903"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76849853","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.9.699b3778
J. Grosbois, Massimiliano Di Luca, Raymond J. King, Mounia Ziat
Because the world is dynamic in nature, sensory predictions are invariably important to successful interaction with it. The current experiment examined the influence of dynamic frequency information on the associated perceptions of simple geometric features. Participants were presented with short durations of vibrotactile stimulation to their fingertip across an array of oscillating pins. A pair of frequencies was used to simulate simple tactile edges across the array surface. Over a relatively short ‘shift’ duration, the frequencies at which these regions vibrated often switched spatial locations. Participants were required to indicate which of three possible shapes (left edge, right edge, or none) they experienced. The results were consistent with a predictive model of perceptual decision making in that responses were generally biased by the initial rather than the final configuration. Further, performance accuracy was maximized at the intermediate, 500-ms shift duration for a 10-158 Hz frequency pairing. This indicated that performance may be enhanced when larger frequency differences are used in concert with shift durations consistent with natural, exploratory movements.
{"title":"The Predictive Perception of Dynamic Vibrotactile Stimuli Applied to the Fingertip*","authors":"J. Grosbois, Massimiliano Di Luca, Raymond J. King, Mounia Ziat","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.9.699b3778","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.9.699b3778","url":null,"abstract":"Because the world is dynamic in nature, sensory predictions are invariably important to successful interaction with it. The current experiment examined the influence of dynamic frequency information on the associated perceptions of simple geometric features. Participants were presented with short durations of vibrotactile stimulation to their fingertip across an array of oscillating pins. A pair of frequencies was used to simulate simple tactile edges across the array surface. Over a relatively short ‘shift’ duration, the frequencies at which these regions vibrated often switched spatial locations. Participants were required to indicate which of three possible shapes (left edge, right edge, or none) they experienced. The results were consistent with a predictive model of perceptual decision making in that responses were generally biased by the initial rather than the final configuration. Further, performance accuracy was maximized at the intermediate, 500-ms shift duration for a 10-158 Hz frequency pairing. This indicated that performance may be enhanced when larger frequency differences are used in concert with shift durations consistent with natural, exploratory movements.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"141 1","pages":"848-853"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86256023","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.10.e37f63b1
Steven Cutlip, J. Freudenberg, R. Gillespie
Haptic feedback provided in the axis of a motor task cannot be removed without changing the motor task itself. Haptic feedback couples the biomechanics of the backdrivable body to the dynamics of the environment and establishes a conduit for both power and information exchanges. To isolate the roles of haptic feedback in information exchange and power exchange, we devised a task without haptic feedback that preserved the motor challenge of controlling the coupled dynamics. We placed an identified model of a participant’s biomechanics in the virtual environment and coupled it to the original task dynamics. Visual feedback was provided to substitute for the missing haptic feedback. We compared the performance of N=5 participants in the same motor task with and without haptic feedback and in the new task without haptic feedback. The presence of the coupled dynamics in the task predicted the match across conditions rather than the feedback modality. Our results provide support to the idea that rather than controlling their environment, humans control the coupled dynamics of their body and environment.
{"title":"Respecting the Coupled Dynamics: Haptic Feedback Carries both Power and Information","authors":"Steven Cutlip, J. Freudenberg, R. Gillespie","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.10.e37f63b1","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.10.e37f63b1","url":null,"abstract":"Haptic feedback provided in the axis of a motor task cannot be removed without changing the motor task itself. Haptic feedback couples the biomechanics of the backdrivable body to the dynamics of the environment and establishes a conduit for both power and information exchanges. To isolate the roles of haptic feedback in information exchange and power exchange, we devised a task without haptic feedback that preserved the motor challenge of controlling the coupled dynamics. We placed an identified model of a participant’s biomechanics in the virtual environment and coupled it to the original task dynamics. Visual feedback was provided to substitute for the missing haptic feedback. We compared the performance of N=5 participants in the same motor task with and without haptic feedback and in the new task without haptic feedback. The presence of the coupled dynamics in the task predicted the match across conditions rather than the feedback modality. Our results provide support to the idea that rather than controlling their environment, humans control the coupled dynamics of their body and environment.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"23 1","pages":"718-723"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85499188","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 : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.8.0698f2bb
Joshua P. Brown, I. Farkhatdinov
Whilst common in devices ranging from smart-phones to game controllers, vibrotactile feedback has generally been limited to providing a uniform sensation across a tactile surface. We propose a haptic interface based on the emerging physical effect of particle jamming with both vibrotactile and shape changing outputs, which can be extended in space to create haptic surfaces and devices with shape and vibrotactile responses localised to one part of the device. This paper gives an overview of the physical principles behind this technology and presents detailed performance metrics obtained from a working prototype. These include experimental characterization of the relationships between air pressure and electric motor power and vibration amplitude and frequency which show that it is possible to control vibrotactile amplitude and frequency independently.
{"title":"Soft Haptic Interface based on Vibration and Particle Jamming","authors":"Joshua P. Brown, I. Farkhatdinov","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.8.0698f2bb","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.8.0698f2bb","url":null,"abstract":"Whilst common in devices ranging from smart-phones to game controllers, vibrotactile feedback has generally been limited to providing a uniform sensation across a tactile surface. We propose a haptic interface based on the emerging physical effect of particle jamming with both vibrotactile and shape changing outputs, which can be extended in space to create haptic surfaces and devices with shape and vibrotactile responses localised to one part of the device. This paper gives an overview of the physical principles behind this technology and presents detailed performance metrics obtained from a working prototype. These include experimental characterization of the relationships between air pressure and electric motor power and vibration amplitude and frequency which show that it is possible to control vibrotactile amplitude and frequency independently.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"145 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79227919","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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