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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 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...
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...
In this paper, two robust perception-based haptic data reduction and transmission techniques are presented to reduce data traffic in telehaptic systems. A prediction approach that relies on the least-squares method and median filtering is exploited in order to reduce the number of packets transmitted, and efficiently reconstruct unsuccessfully received data samples. Knowledge from human haptic perception...
In this demonstration, we show haptic results from our research on distributed contact between deformable objects with complex geometry. The demos run at 1000 Hz, and support 6-DoF haptic rendering. Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. We demonstrate a spatially and temporally adaptive approach...
In the current world, by and large, computer interaction relies on visual and auditory feedback and to make interactions more realistic, tactile response would be essential e.g. for medical training simulations. Haptic interfaces would make the digital models to be probed and felt by the users and more specifically in a medical world by medical students, these simulations, also can reduce costs and...
The use of commercial haptic interfaces to create models of the feel of physical objects has the potential to transform the field of haptic modeling by broadening the availability of haptic modeling technology. In this paper we develop methods that enable general haptic interfaces to actuate and measure the dynamic properties of physical objects and generate models of their behavior. Specifically,...
This demonstration shows the effectiveness of the energy-bounding algorithm (EBA) for stable haptic interaction and bilateral teleoperation. The EBA proposed for stable haptic interaction based on the passivity theory and extended to stabilize the bilateral teleoperation system that has the time delay in communication channel. In this demo, a virtual wall test for haptic interaction and bilateral...
Haptic interfaces have been used as a surrogate for many real world applications such as rehabilitation, calligraphy, design and surgical training. While development of haptically enabled systems are opening new avenues in training, very few studies have explored if they provide realistic and matching muscle activations compared to real world activities. In this paper a novel methodology based on...
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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