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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...
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...
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...
This study compares the Weber fraction for human perception of stiffness among three conditions: vision, proprioceptive motion feedback, and their combination. To make comparisons between these feedback conditions, a novel haptic device was designed that senses the spring behavior through encoder and force measurements, and implements a controller to render linear virtual springs so that the stimuli...
Physical human-robot interaction can be significantly improved when being aware about the role each partner takes in a joint manipulation task. This holds especially in computer assisted teleoperation, where depending on the identified role of the human, different roles can be assigned to the assistance function. This work proposes a method for the determination of two non exclusive roles, an executor...
This paper describes a novel stretchable fingernail sensor for measuring fingertip forces for human-computer interaction. The fingernail sensor uses photoplethysmography to measure the change in blood perfusion in the fingernail bed when the fingerpad touches a surface with various forces. The original fingernail sensor was rigidly attached to the human fingernail, necessitating a customized fabrication...
This paper presents evidences of the performance improvement due to perceptual-based force signal manipulation in an interaction task with an haptic device. We hypothesize that sub-threshold forces become perceivable when a vibration waveform is superimposed onto the force signal. We study the human capabilities in perception of harmonic forces, and we observe lower thresholds for sinusoidal waves...
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