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In this paper, we discuss a method for presenting virtual objects to multiple fingers on both hands using multiple single-point haptic devices operating over a network. We evaluated the effect of the number of fingers used on ability to recognize shapes using this system. The experimental results suggest that the number of contact points do not sufficiently improve the ability to recognize shapes,...
In this paper we discuss dielectric elastomer actuators (DEA) as one of the most promising technologies in electroactive polymers (EAP). For tactile display applications a large number of actuator elements is essential. The multilayer technology presented here offers the possibility to build up independent actuators and arrays at a high density within one substrate. The functional principle of these...
This paper reports the detection threshold of human hairy skin with the use of a direct vibrotactile stimulus to the hair on human hairy skin. We designed an experimental method to quantify the psychological effect and developed a stimulation instrument to directly stimulate the hair. This vibrotactile stimulation was provided from the tip of tweezers which traveled horizontally against the human...
This paper presents a small and lightweight tactile display system and describes its capabilities with respect to spatial and temporal tactile feedback. Each tactile display module is comprised of a 4times4 piezoelectric ultrasonic actuator array with a spatial resolution of 1.5 mm and a temporal resolution of 20 Hz. The objective of this research is to build a small and lightweight tactile display...
The purpose of these experiments was to investigate the minimum duration of haptic memory representations. The term haptic memory can be defined as the ability to retain impressions of haptically acquired information after the original stimulus is absent. Participants repeatedly picked up objects of various masses. The time interval between the final practice lift of each object and a test lift was...
This paper presents a new approach to provide two-dimensional directional information mediated by the sense of touch. The basic idea was to test whether one-dimensional stimuli provided by a counterclockwise (CCW) and clockwise (CW) rotating leadscrew of a friction-based fingertip stimulator prototype can be perceived as two-dimensional directional information. Ten participants were asked to indicate...
Two experiments are described in which the task was to identify a set of stimuli that were presented both haptically and visually such that the spatiotemporal display of information was matched. The stimuli were pre-recorded movement pathways followed during the exploration of capital letters. In the haptic tasks explorers were guided along the pathways by two mechanical devices - the tactile display...
A series of experiments was conducted to evaluate how contact pressure and surface roughness influence the heat flux conducted out of the skin or object during contact. Changes in skin temperature assist in identifying objects held in the hand. In the first experiment an infrared thermal imaging system was used to measure skin temperature and contact area as participants generated forces ranging from...
This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-of-freedom (DOF) haptic hand, a 6 DOF interface arm and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large workspace...
Palpation is important in both veterinary and medical health professions. It is however difficult to learn, teach and assess. More must be understood about the skills involved in palpation. The present study compares the ability of practicing veterinarians and veterinary students to identify stiffness values. An absolute identification paradigm was used where a force-feedback device rendered virtual...
Recent studies have demonstrated that the tactile roughness perception of surface texture was modified when touch-produced sounds or non-touch-produced sounds were presented while exploring a surface. Our previous research demonstrated that white noise modified tactile roughness perception of an abrasive paper with a certain particle size. In the present study, we investigated whether the dependence...
This paper presents a displaying method of button like click feeling using ultrasonic vibration with amplitude of a few micrometers. Artificial click feeling is displayed by recreating rapid change in force arising from buckling of a mechanical push button utilizing squeeze film effect. First, important factors for displaying click feeling were extracted by analyzing the relationship among force-stroke...
We are perceiving environment tactually in various situations. Does the perception of tactile timing change depending on the stimulated body parts or how we touch? In this research, we focused on how temporal information is combined under the influence of two distances-somatotopic and spatiotopic. Which distance is important for temporal processing? We provide two experiments to investigate this question...
When a person moves or presses with an individual finger other fingers also produce a force (Kilbreath and Gandevia 1994; Li et al. 2004; Zatsiorsky et al. 2000). Several factors are known to contribute to this response: (1) peripheral mechanical coupling, (2) multi-digit motor units, and (3) diverging central commands. This phenomenon, known as enslaving, has traditionally been studied in isometric...
A variety of tasks could benefit from the availability of direction cues that do not rely on vision or sound. Skin stretch has been found to be a reliable means of communicating direction and has potential to be rendered by a compact device. We have conducted experiments exploring the use of lateral skin stretch at the fingertip to communicate direction. A small rubber cylinder was pressed against...
Fingertip skin stretch has been found by our lab to be a reliable means for communicating direction. This demonstration will consist of two different parts to illustrate this means of communication. The first part of the demonstration will give participants some perspective on the importance of properly selecting stimulus parameters when rendering skin stretch. It will utilize a precision bench-top...
The aim of this demonstration is to create, at the surface of a plate, the illusion that a user is touching a finely textured surface. To achieve that, vibrations of a few micrometers at very high frequency, reduces friction between the fingertip and the vibrating surface.
The purpose of this study is to investigate multisensory visual-haptic softness perception using deformable objects. We created a set of rubber specimens, whose compliance varied in a controlled fashion (0.11 to 0.96 mm/N), but which were otherwise indistinguishable. Participants judged the magnitude of the stimuli according to their softness under haptic-only, vision-only and visuo-haptic conditions...
Design of haptic interfaces for precise bimanual manipulation should take into account how weight simulation is implemented when manipulation switches between one and two hands. The importance of this is apparent in tasks where the user requires to apply vertical forces to penetrate a surface with a tool or splice a fragile object using one and/or two hands. Accurate perception of simulated weight...
A hand-held input device providing vibrotactile cues is developed for transmitting spatial and directional information to the users controlling a mobile robot or a manipulator arm. A sphere-shaped handle is applied to make comfortable for gripping the handle, and the input device can provide six degrees of freedom motion of the handle. For maintaining isolation among vibrotactile actuators, surface...
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