The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The main result of this paper is a new model based on homotopy switching between intrinsically distinct controllers that encompass most behaviors encountered in dyadic haptic collaborative tasks. The basic idea is to switch continuously between two distinct extreme behaviors (leader and follower) for each individual, which creates an implicit bilateral coupling within the dyad. The physical collaborative...
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...
The present work focuses on perceptual control of haptic manipulation during high frequency interaction with mobile objects. In particular in this work we focused on the analysis of the control and perceptual issues in the throwing and catching in juggling. A training multimodal system that exploits the concepts of co-located visuo-haptic feedback and encountered interfaces was implemented. Using...
Recent findings have shown that humans can adapt their internal control model to account for the changing dynamics of systems they manipulate. In this paper, we explore the effects of magnitude and phase cues on human motor adaptation. In our experiments, participants excite virtual second-order systems at resonance via a two-degree of freedom haptic interface, with visual and visual plus haptic feedback...
A robot controller is developed for human-robot handshaking. The focus of the work is to provide realistic experiences for the human participant in haptic interactions with a robot. To achieve this goal, a position-based admittance controller is implemented. By using haptic data as inputs, a hidden Markov model-based high-level controller is used to estimate human intentions and modify the reference...
Haptic assistance functions for a telepresence system are presented and assessed. These assistance functions are based on the augmentation of exchanged position and force data, and they are intended to increase the transparency of the telepresence system while maintaining stability. We present the concept and implementation of different assistance functions. Furthermore, we show the setup and results...
This paper presents a vibrotactile methodology for a rowing training system. Since hands' trajectories are fundamental in the rowing gesture, it is completely necessary to search and develop new technologies and techniques that can interact and help the user to perform a better movement. These methodologies must be as natural as possible in order to guarantee the transparency in the feedback of the...
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,...
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...
This paper explores the use of hypotrochoid curves as visual aids for haptic training systems that are used to teach motor skills that require recall of forces and positions at specific locations to replicate the expert touch. The visual aid presented is a multidimensional feedback tool that can provide information on force, position, and velocity simultaneously. The extent of learning is measured...
This paper investigates a human-centered approach for the exploration of large data sets resulting from CFD (computational fluid dynamics) simulations. In a VR (virtual reality) immersive environment we propose to couple haptic feedbacks with visual rendering. The proposed solution aims at identifying critical points of an unsteady fluid flow without resorting to any topology analysis such as eigen...
This paper demonstrates fast, accurate, and stable force control in three axes simultaneously when a flat surface is pressed against the human fingerpad. The primary application of this force control is for the automated calibration of a fingernail imaging system, where video images of the human fingernail are used to predict the normal and shear forces that occur when the fingerpad is pressed against...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.