Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.27.fb93aa04
Victor A. Luna Laija, P. G. Özdil, K. Hashtrudi-Zaad
The quality of the velocity signal required to implement linear viscoelastic virtual environments is of great importance for the stability of haptic simulation systems. In a typical haptic simulation system, the velocity is numerically estimated from position samples. The range of the implementable environment stiffness and damping for uncoupled stability is limited by quantization. In this paper, we analytically and numerically studied the effect of direct velocity measurement on the virtual environment viscoelastic dynamic range for guaranteed uncoupled stability and the passivity of the dynamics projected to the user. The analytical results are assessed through experiments conducted in a QET haptic knob testbed.
{"title":"Effect of Direct Velocity Measurement on the Stability of Haptic Simulation Systems","authors":"Victor A. Luna Laija, P. G. Özdil, K. Hashtrudi-Zaad","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.27.fb93aa04","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.27.fb93aa04","url":null,"abstract":"The quality of the velocity signal required to implement linear viscoelastic virtual environments is of great importance for the stability of haptic simulation systems. In a typical haptic simulation system, the velocity is numerically estimated from position samples. The range of the implementable environment stiffness and damping for uncoupled stability is limited by quantization. In this paper, we analytically and numerically studied the effect of direct velocity measurement on the virtual environment viscoelastic dynamic range for guaranteed uncoupled stability and the passivity of the dynamics projected to the user. The analytical results are assessed through experiments conducted in a QET haptic knob testbed.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"47 1","pages":"712-717"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79751673","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.HAP20.33.99093c10
J. Zárate, T. Langerak, B. Thomaszewski, Otmar Hilliges
In this paper we introduce a novel contact-free volumetric haptic feedback device. A symmetric electromagnet is used in combination with a dipole magnet model and a simple control law to deliver dynamically adjustable forces onto a hand-held tool. The tool only requires an embedded permanent magnet and thus can be entirely untethered. The force, however, while contact-free, remains grounded via the spherical electromagnet and relatively large forces (1N at contact) can be felt by the user. The device is capable of rendering both attracting and repulsive forces in a thin shell around the electromagnet. We report findings from a user experiment with 6 participants, characterizing force delivery aspects and perceived precision of our system. We found that users can discern at least 25 locations for repulsive forces.
{"title":"Contact-free Nonplanar Haptics with a Spherical Electromagnet","authors":"J. Zárate, T. Langerak, B. Thomaszewski, Otmar Hilliges","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.33.99093c10","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.33.99093c10","url":null,"abstract":"In this paper we introduce a novel contact-free volumetric haptic feedback device. A symmetric electromagnet is used in combination with a dipole magnet model and a simple control law to deliver dynamically adjustable forces onto a hand-held tool. The tool only requires an embedded permanent magnet and thus can be entirely untethered. The force, however, while contact-free, remains grounded via the spherical electromagnet and relatively large forces (1N at contact) can be felt by the user. The device is capable of rendering both attracting and repulsive forces in a thin shell around the electromagnet. We report findings from a user experiment with 6 participants, characterizing force delivery aspects and perceived precision of our system. We found that users can discern at least 25 locations for repulsive forces.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"4 1","pages":"698-704"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87525715","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 : 2020-01-31DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.89.9286fc30
Evgeny V. Tsykunov, R. Agishev, R. Ibrahimov, Taha K. Moriyama, Luiza Labazanova, H. Kajimoto, D. Tsetserukou
For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel interaction strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator’s convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.
{"title":"SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity","authors":"Evgeny V. Tsykunov, R. Agishev, R. Ibrahimov, Taha K. Moriyama, Luiza Labazanova, H. Kajimoto, D. Tsetserukou","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.89.9286fc30","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.89.9286fc30","url":null,"abstract":"For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel interaction strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator’s convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"310 1","pages":"987-992"},"PeriodicalIF":0.0,"publicationDate":"2020-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77243870","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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