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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 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...
The aim of this demonstration is to create, at the surface of a plate, the illusion that a user is touching a finely textured surface. To achieve that, vibrations of a few micrometers at very high frequency, reduces friction between the fingertip and the vibrating surface.
Different aspects of bone surgery simulation has been a popular topic in haptics research field. This demonstration paper has two major results: a free and open source software (FOSS) implementation of a well known algorithm for tool-bone interaction force estimation, and an evaluation conducted as part of a suggested User-centered design approach for creation of a surgery simulator targeting Oral...
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...
Among the methods to grant the stability of a telemanipulation system, the bilateral time domain passivity framework has the appealing characteristic to consider both, force and velocity signals exchanged between master and slave systems, and the power introduced or dissipated by the elements that compose the telemanipulation system. In previous works, it has been shown how the bilateral passivity...
The purpose of this study is to investigate multisensory visual-haptic softness perception using deformable objects. We created a set of rubber specimens, whose compliance varied in a controlled fashion (0.11 to 0.96 mm/N), but which were otherwise indistinguishable. Participants judged the magnitude of the stimuli according to their softness under haptic-only, vision-only and visuo-haptic conditions...
Design of haptic interfaces for precise bimanual manipulation should take into account how weight simulation is implemented when manipulation switches between one and two hands. The importance of this is apparent in tasks where the user requires to apply vertical forces to penetrate a surface with a tool or splice a fragile object using one and/or two hands. Accurate perception of simulated weight...
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...
Enhancing volume visualization with additional cues from our sense of touch has shown the potential to increase both speed and accuracy in the data exploration. Research in the area display a wide array of modes of interaction and many of these have been evaluated to demonstrate their capabilities. There are, however, few studies performed that compare different approaches for their strengths and...
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...
This paper is concerned with network-based multi-user haptic interaction using a distributed peer-peer control architecture. It proposes new quantitative measures for quantifying the fidelity of haptic simulations in such environments. User's perceived admittance and discrepancy among local copies of virtual objects are considered in defining these measures. A state prediction scheme is proposed to...
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