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The effect of contact location information on the perception of virtual edges was investigated by comparing human edge sharpness discrimination under the force-alone and force-plus-contact-location conditions. The virtual object consisted of the 2D profile of an edge with two adjoining surfaces. Edge sharpness JNDs for both conditions increased from about 2 to 7 mm as the edge radii increased from...
Haptics has in earlier work shown the potential to assist in the understanding of an otherwise overwhelming amount of information in scientific and medical visualization. In the typical scientific data, with many different properties such as pressure, temperature, strain, etc, the user is required to switch between what data to represent through the haptic feedback. In this paper we explore the possibility...
High packet rates in telepresence and teleaction systems pose grave challenges to teleoperation over existing communication infrastructure like the Internet. To counter these issues, efficient perceptually motivated packet-rate reduction schemes have been developed. These schemes are conventionally evaluated for perceived quality via subjective user tests. Such tests are time-consuming, expensive...
Human tactile perception incorporates two important characteristics - self-reference and bidirectionality. Self-reference is an important factor when evaluating tactile sensations. Bidirectionality contributes to sensing capability enhancement. In this paper, a tactile sensor including self-reference and bidirectionality is presented. The sensor with two microphones is mounted on a human finger. Users...
In this paper, we present the performance evaluation of haptic compression methods for networked teleoperation systems or haptic interfaces in virtual environments. Haptic data, which include position, velocity, and force data exchanged through the communication channel, are considered by various compression methods based on down-sampling. We introduce the operational rate-distortion performance measure...
Amplitude-modulated vibrotactile stimuli have been broadly used for tactile perception and rendering research. However, understandings of the perceptual relations between amplitude-modulated vibrations are not comprehensive yet. In this paper, we present a perceptual analysis on the identifying characteristics of amplitude-modulated vibrations and their perceptual relations. We estimated the perceptual...
In this paper, we present a Bayesian prediction approach to improve stability of teleoperation systems over the Internet. Motion and force data flows in a teleoperation system are formulated in discrete time state-space models predicted by Bayesian filters, including the Kalman filter and particle filter. The particle filter, which is known as a robust tracking method in nonlinear and non-Gaussian...
In this work, we propose a plenhaptic guidance function that systematically describes the haptic information for guiding the user in the target environment. The plenhaptic guidance function defines the strength of the guidance at any position in space, at any direction, and at any time, and takes the geometry of the target environment as well as all possible goals into account. The plenhaptic guidance...
Human-machine collaborative teleoperation systems were introduced to overcome limitations of state-of-the-art teleoperation systems by using a virtual assistant that supports the human operator in the execution of a task. Since assistances are highly task-dependent a correct classification of the currently performed task is paramount. In this paper, we present a novel approach for improving task classification...
Molecular interactions typically have a high dynamic range (HDR), combining short-range stiff repulsive effects with long-range, soft attractive and repulsive terms. As a result, faithful haptic rendering of such molecular interactions is both important and difficult, in particular in applications where the precise perception of molecular forces is necessary (e.g. in molecular docking simulations)...
Force-feedback interaction with a bowed string model can suffer critically from noise in the velocity signal derived from differentiating position measurements. To address this problem, we present a model for bowed string interaction based on a position-constraint friction. We validate the proposed model by comparing to previous work using off-line simulations, and show measurements of interaction...
In this study we want to address the question to what extent the visual and the haptic modalities contribute to the final formation of a complex multisensory perceptual space. By varying three shape parameters a physical shape space of shell-like objects was generated. Participants were allowed to either see or touch the objects or use both senses to explore the objects. Similarity ratings were performed...
In the present study we investigated the influence of the sensory modality of information on the perceived roughness of unfamiliar textures. Subjects were instructed to judge the roughness of embossed dot patterns with varying inter-dot spacing in a visual, haptic or a visual-haptic combined information condition. Our results indicate that the relationship of inter-dot spacing and roughness perception...
In tele-operation, haptic feedback from the remote environment to the human is often limited, which has been shown to negatively influence the performance and required time of tasks. The conventional research focus is on improving the quality of the haptic feedback (transparency), which may have led to significant improvement, but is still imperfect, with many unresolved issues. The present study...
The touch screen is the preeminent human-computer interface of our times. With the benefit of market pull, touch input technologies (e.g., projected capacitance and multi-touch) are rapidly advancing. But what about touch output? In this talk, I'll discuss “surface haptics”: programmable haptic interaction for physical surfaces such as touch screens and touch pads. Four main approaches - vibration,...
A novel thin film polydimethylsiloxane (PDMS) based flexible tactile micro sensor has been developed for contact traction distribution measurement between an indenter and an object (e.g. finger pad). The tactile sensor is a five layer device consisting of 2 layers of textured patterns sandwiched between 3 layers of PDMS. The textured patterns are protected by a thin layer of PDMS (25 microns) on each...
Telerobotics is one of the most traditional fields of robotics and it played a crucial role in the history of robotics and of the mankind, especially in the areas of space and undersea exploration and of remote material handling. On the other hand, teleoperation is still a very active research area and many problems are still open. In particular, the design of the control strategy for coupling local...
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