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Humans naturally use both categorical and continuous structures when classifying perceptual experiences. However, design of haptic information displays is eased by the availability of design parameters that can be smoothly modulated along a continuous dimension. Taking guidance from visual and auditory media design, we identified and validated a perceptually successful ldquomorphrdquo function that...
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...
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...
This paper describes development of a wind display system for the TreadPort virtual environment locomotion interface, which is cumulatively known as the TreadPort active wind tunnel (TPAWT). Computational fluid dynamic simulations and experiments with a scaled model test-bed of the system has resulted in a combination of passive and active controls capable of controlling wind speed and angle acting...
Recent studies have demonstrated that the tactile roughness perception of surface texture was modified when touch-produced sounds or non-touch-produced sounds were presented while exploring a surface. Our previous research demonstrated that white noise modified tactile roughness perception of an abrasive paper with a certain particle size. In the present study, we investigated whether the dependence...
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...
Soft tissue modelling is important in the realm of haptic interactions. The main challenge in this research area is to combine two basic conditions which are essential-the stability of the haptic interaction running on high refresh rate on one hand and realistic behavior of the tissue assuming computationally expensive mathematical models on the other.
Materials such as wood or metal which are at equal temperatures are perceived to be of different ldquocoldnessrdquo due to differences in thermal properties, such as the thermal diffusivity. The thermal diffusivity of a material is a parameter that controls the rate with which heat is extracted from the hand when it touches an object of that material. This rate of heat extraction is an important cue...
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...
In telepresence and teleaction systems the haptic communication channel plays a central role. As it closes a global control loop any introduced communication delay possibly destabilizes the system and impairs the performance. The scattering theory is known to solve these stability issues by transmitting wave variables instead of haptic signals, i.e. force and velocity, over the communication channel...
We approach the problem of determining a general method for augmenting haptic simulators to amplify the perceptually salient aspects of the interaction that induce effective skill transfer. Using such a method, we seek to simplify the design of haptic simulators that can improve training effectiveness without requiring expensive improvements in the capability of the rendering hardware. We present...
This paper presents a new design of haptic device which combines the spherical parallel structure with the serial link configuration. The spherical configuration offers 3DOF for the positioning its platform where a 3DOF serial link is connected. The moving platform is connected to the ground through a passive and active spherical joint configuration. As such, the passive joint can contribute in supporting...
The objective of this work is to demonstrate that progressive haptic guidance can accelerate and improve motor task training outcomes over visual or practice-only methods in a training virtual environment (TVE). To that end, we design haptic and visual guidance schemes based on detailed analyses of performance differences between experts and novice trainees performing a dynamic motor control task...
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...
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...
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...
We are developing a wearable exoskeleton rotational haptic interface that will fit the human body. First, we developed a force sensor to measure the rotational moment of rotational tasks at the wrist and measured the rotational moment of important tasks. Then, we tried to develop a prototype of the exoskeleton rotational haptic interface.
Virtual environments (VEs) with haptic feedback not only provide a safe and versatile practice medium for many manual control tasks, but also promise to improve the efficacy of manual skill training with the addition of haptic guidance. However, haptic guidance schemes such as shared control may be detrimental since such schemes actively interfere with the coupled system dynamics, thereby causing...
Simplified soft tissue models used in surgical simulations cannot perfectly reproduce all material behaviors. In particular, many tissues exhibit the Poynting effect, which results in normal forces during shearing of tissue and is only observed in nonlinear elastic material models. In order to investigate and quantify the role of the Poynting effect on material discrimination, we performed a multi-dimensional...
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