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In this paper, we present the design of a new fMRI compatible haptic interface with 3DOFs, based on electrical DC actuation, for the study of brain mechanisms of human motor control. In order to evaluate the validity of the proposed solution, we performed some preliminary experiments with a single degree of freedom device to test the compatibility with the fMRI environment. The 1DOF design was extended...
Pneumatic control has been used for armature control of robots with pneumatic air muscles achieving accurate position control of the piston actuator with inexpensive solenoid valves. We describe a pneumatic fuzzy controller associated with a pulse width modulation conversion scheme in a novel haptic device within a colonoscopy simulation system. A rubber bladder was used to simulate forces experienced...
Providing force and torque feedback in every degree of freedom of a haptic device can be complex and costly, often prohibitively so. Consequently, devices that reduce the number of actuators such as SensAble's PHANTOM Omni, a 6-degree-of-freedom (DOF) positioning, 3-degree-of-freedom force feedback haptic device, have gained popularity. While these devices have been widely accepted, no previous study...
We present a visuo-haptic display and a set of tasks aimed at evaluating upper-limb sensory-motor functions. The visual and force feedbacks were manipulated to assess the functioning of different feedforward and feedback elements of movement control. We report the results of healthy adults who performed these tasks with both hands over two different experimental sessions. Results reproduced known...
We consider the following problem in haptics: information update from the virtual world is slow w.r.t. the local servo-loop rate of the haptic device, and the information transmission/update between the haptic device and the virtual world is of variable rate and/or asynchronous. For this, we propose a novel control framework, that, by relying on our recently proposed passive set-position modulation...
In this paper we present a method for generating accurate haptic force models to describe the feel of physical devices. The models are generated by fitting polynomial hypersurfaces to experimentally measured motion and force data obtained by actuating physical devices. The methods are demonstrated by modeling the complex force-deflection profile of a nonlinear mass-spring-damper system. Initial results...
The force-update-rate requirements of transparent rendering of virtual environments are in conflict with the computational cost required for computing complex interactions between deforming objects. In this paper we introduce a novel method for satisfying high force update rates with deformable objects, yet retaining the visual quality of complex deformations and interactions. The objects that are...
This paper presents an energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple degree-of-freedom (DOF) haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillations in some coordinate directions even though total energy is positive. The passivity condition, therefore, needs to be applied to each...
In this paper, a new parallel link mechanism ldquoDELTA-4rdquo is developed as a new haptic device within a high quality force display capability and operability. DELTA-4 realizes 3 DOF of translational motions by a new redundant parallel link mechanism. The name of the mechanism DELTA-4 is derived from a conventional parallel link mechanism ldquoDELTArdquo, because there are several common points...
In robotic applications tactile sensor systems serve the purpose of localizing a contact point and measuring contact forces. We have investigated the applicability of a sensorial device commonly used in cursor navigation technology for tactile sensing in robotics. We show the potential of this sensor for active haptic exploration. More specifically, we present experiments and results which demonstrate...
As an approach to real-time simulation of haptic interaction with deformable objects, we proposed a record-reproduction method called dasiaimpulse response deformation modelpsila (IRDM), in which the deformation of an object shape is computed by convolving temporal sequence of interaction force with a pre-computed response of model to impulse force. Although, IRDM has an advantage that its computation...
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...
We discuss the theory, design, and performance of a flat-panel tactile display capable of controlling shear force on a finger. In previous research a TPaD variable friction device was presented. It modulates friction by using vertical ultrasonic vibrations to form a squeeze film of air between the finger and the horizontal glass surface. In this research, a TPaD is oscillated in the horizontal plane...
This paper presents the design, fabrication, control and testing of the third generation prototype of a novel, one degree of freedom (DOF) variable resistance hand device (VRHD) that was designed for isotonic, isokinetic, and variable resistance grasp and release exercises. Its principle functionality is derived from an electro-rheological fluid based controllable damper that allows continuously variable...
In this paper we present a history dependent transfer function (HDTF) as a possible approach to enable improved haptic feature detection in high dynamic range (HDR) volume data. The HDTF is a multi-dimensional transfer function that uses the recent force history as a selection criterion to switch between transfer functions, thereby adapting to the explored force range. The HDTF has been evaluated...
While exploratory movements are an integral part of the act of perceiving in the haptic modality, little is known about the processes that perform the mental synthesis necessary to gain a unified representation of the object. To address this issue, we investigated the accuracy and precision with which participants could identify the central position of a unidimensional elastic force field. The stiffness...
In these days, tactile sensation using a vibration motor is recently receiving attention for immersive interaction with mobile devices. However, the vibration motor is not enough to provide detailed texture or small-scale shape. In order to generate various and exiting tactile sensation, this paper presents a new tactile actuator with a solenoid, a permanent magnet and an elastic spring. This paper...
Human vibrotactile detection experiments were used to compare temporal sinusoids displayed on three commercial haptic devices to a high-fidelity linear voice-coil actuator. The three commercial haptic devices we used span the cost spectrum, supposing that cost of a device is correlated with the fidelity of its virtual textures. This turned out not to be the case. The results indicated that none of...
In this experiment we investigated the influence of stimulus properties on exploratory movement parameters in active touch. More precisely, we investigated whether and to what extent variations in stimulus compliance influence the executed finger force and velocity of the exploratory movements. Therefore, we varied the compliance of silicon rubber stimuli with deformable surfaces. Participants freely...
A mobile haptic interface (MHI), a force-feedback haptic interface with a mobile base, allows to render very large virtual objects in a safe and portable manner. In this paper, we present a novel MHI system, featured with: 1) extended horizontal workspace using a omni-directional mobile base, 2) extended vertical workspace using a linear lift, 3) high-accuracy estimation of the position of the haptic...
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