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We describe a wearable haptic feedback device that imparts rotational skin stretch to provide feedback regarding movement of a virtual object. Applications for this device include feedback of motion for physical therapy or rehabilitation exercises or proprioceptive feedback for amputees. The device uses a small piezoelectric motor for a combination of low weight, moderate torques and rotation without...
This paper reports on two experiments we conducted to look at how to design effective linear and circular apparent-motion displays. Using a two-tactor array on the upper arm, the first study found that a time interval of greater than 400 ms before repeating the directional sequence is required for subjects to achieve 95 % proficiency of direction identification over a range of duration of stimulus...
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...
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...
Despite the plethora of vibrotactile applications that already have begun to impact our everyday life, how to design vibrotactile patterns easily and efficiently remains to be a challenge. In this paper, we introduce a vibrotactile score, an effective means for composing vibrotactile patterns. The vibrotactile score is a metaphor of the musical score to vibrotaction, and its design is adapted from...
We present a tactile Respiratory Management System (tRMS) to manage and control breathing patterns of cancer patients undergoing radiation therapy. The system comprises of an array of small vibrating motors and a control box that supplies power to and provides a control interface for up to twelve motors through the parallel port of a standard personal computer. The vibrotactile array can be fastened...
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...
As a solution to the lack of compactness and simplicity often encountered in haptic interfaces, we propose a device based on friction coefficient control principle. This device includes polarised piezoceramics well adjusted and glued to a 64x38x3 mm copper-beryllium plate supported by four legs. Then, properly energised around a resonant frequency, with legs at antinodes, a stationary wave is created...
Humans significantly vary the impedance of their limbs during many manipulation tasks and during interaction with their environment. Humans vary their impedance to reduce contact forces, to increase positional control, and to stabilize unstable dynamics. The neuromuscular system modulates overall limb impedance by strategically selecting appropriate limb configurations and by selective activation...
For realizing a tactile display for a handheld device, active touch movement should be represented on a small interface. We propose the addition of a tactile feedback mechanism for a pointing-stick-type (PS) input device. In this study, we describe a method for enabling virtual active touch with a cursor on the screen operated by the PS-type tactile interface without actual touch movement. First,...
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...
Tactile information plays a critical role in the human ability to manipulate objects with one's hands. Many environments require the use of protective gloves that diminish essential tactile feedback. Under these circumstances, seemingly simple tasks such as picking up an object can become very difficult. This paper introduces the SlipGlove, a novel device that uses an advanced sensing and actuation...
During real physical interactions, contact between a hand-held tool and an object causes high-frequency tool accelerations that are detected by mechanoreceptors in the human hand. These haptic signals provide salient cues about changes in tool-surface contact state and enable effortless identification of material and surface properties. Unfortunately, these rich contact sensations are often absent...
This paper presents two graphical authoring tools, posVibEditor and VibScoreEditor, developed for the intuitive and convenient design of vibrotactile patterns. The posVibEditor is for the signal-level design and supports drag-and-drop design paradigm, XML data formats, multi-channel timeline interface and internal vibration player. It also includes a module for perceptually transparent rendering that...
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...
In this work, we designed a haptic stylus interface interacting with a touch screen. The stylus has functions of providing vibration, impact, and sound and it is a stand-alone system including its own battery and wireless communication module. We present a new interaction scheme on the Windows graphical user interface based on haptic feedback events for clicking, drag & drop, moving, scrolling,...
The distribution of tasks and stimuli across multiple modalities has been proposed as a means to support multitasking in data-rich environments. In particular, the tactile channel and, more specifically, communication via the use of tactile/haptic icons have received considerable interest in recent years. Past research has examined primarily the impact of concurrent task modality on the effectiveness...
In this paper we present a new concept for haptic guidance in multiple dimensions, in the form of asymmetric vibrations. We show that by adding asymmetry, vibrations from a single source can, like continuous forces, provide effective, high-resolution directional haptic cues in multiple dimensions. Unlike feedback via continuous forces, vibrations can be generated in an almost arbitrarily small workspace...
Recent literature suggests that inducing proprioceptive movement illusions with predefined movement trajectories via tendon vibration requires use of multiple vibrators and precisely controlled frequency profiles. In this study, we report the design, modeling and control of a compact, low-cost tendon vibrator and illustrate its capability of accurately following time-varying frequency profiles. During...
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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