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In this paper we describe a client-server architecture for haptic interaction with simulated deformable objects. The computationally expensive object deformation is computed on the server at a low temporal update rate and transmitted to the clients. There, an intermediate representation of the deformable object is used to locally render haptic force feedback displayed to the user at the required rate...
It is common to investigate the content of a box or bottle by shaking it. The authors have investigated virtual realization of the shaking interaction using a haptic device that can present inertial force. This paper reports experiments on the discrimination and estimation of content's weight through the shaking interaction. In an experiment, the characteristics of recognition by the subject were...
Controlling absolute magnitudes of fingertip force is an important skill in many haptic interactions such as surgical operations and mechanical assemblies. A fundamental question in the force control is how quickly human can output a target force with expected accuracy. In this paper, human's capability to control absolute magnitudes of fingertip force under audio or visual feedback was observed through...
We investigate the effect of information content in sensory feedback on typing performance using a flat keyboard. We build a flat keyboard apparatus with haptic and auditory keyclick feedback. We evaluate and compare typing performance with key-press confirmation and key-correctness information through sensory feedback. Twelve participants are asked to touch-type a number of randomly selected phrases...
While hand trajectory has been successfully modeled for single arm reaching movement, few works have considered the bimanual reaching movement and no study has modeled the dyadic reaching movement. In a bimanual task, both hands belong to the same person, while in a dyadic task each hand belongs to a different person. In this paper, we study both bimanual and dyadic reaching movements and show that...
Rumble strips (RS) offer ideal conditions for multimodality research. Designed to reduce crashes and alert drowsy or inattentive drivers, their effectiveness in crash reduction is not questioned but little is known regarding how information from tactile vibrations and auditory rumbling is integrated during low-vision driving conditions. In this paper, we report descriptive data related to participants'...
A novel wearable haptic device for modulating skin stretch at the fingertip is presented. Rendering of skin stretch in 3 degrees of freedom (DoF), with contact - no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace and minimum...
This paper reports our recent finding that a laser that is radiated on a thin light-absorbing elastic medium attached on the skin can elicit a tactile sensation of mechanical tap. Laser radiation to the elastic medium creates inner elastic waves on the basis of thermoelastic effects, which subsequently move the medium and stimulate the skin. We characterize the associated stimulus by measuring its...
A method to present volumetric haptic objects in the air using spatial modulation of ultrasound is proposed. Previous methods of airborne ultrasonic tactile display were based on vibrotactile radiation pressure and sensor feedback systems, which result in low spatial receptive resolution. The proposed approach produces a spatially standing haptic image using stationary ultrasonic waves that enable...
Force feedback in tool-mediated interactions with the environment is important for successful performance of complex tasks in our daily life as well as in specialized fields like medicine. Stylus-based haptic devices are studied and used extensively, and most of these devices require either grounding or attachment to the body of the user. Recently, non-grounded haptic devices are getting an increasing...
Texture modeling strives to encapsulate the important properties of texture in a concise representation for interpretation, storage, and rendering. Models for tactile texture have yet to describe a representation that is both perceptually complete and sufficiently compact. In this work, we take inspiration from models of visual and auditory texture and propose a spatial spectrogram representation...
Dragging a tool across a textured surface produces vibrations that convey important perceptual information about the interaction and the underlying qualities of the surface. These vibrations depend on the motions of the tool and respond to both normal force and tangential speed. This paper explores various methods of simulating haptic texture interactions by rendering tool vibrations that are based...
When small holes are felt with the tongue they are perceived to be larger as compared to when felt with the index finger. It is an open question why the size perceived with the tongue differs from size perceived with the finger. We suggest that differences in perceived size are due to differences in the effector's deformation at the edge of the explored hole, which correlate with the effector's pliability...
This paper presents a robotic system that was used to study the restoration of touch sensitivity. This approach could improve the lives of people who suffer from having lost organs or upper-limbs. Here, a combination of tactile sensors, robotic fingers, and a haptic interface enabled us to undertake different types of experiments on human subjects. To this end, we have conducted two separate tests...
When sliding our fingertip on a surface, complex vibrations are produced in the skin. In the present study, we used electroencephalography (EEG) to record steady-state evoked brain potentials (SS-EPs) and characterize the cortical activity related to the passive tactile exploration of textured surfaces. In a first experiment, the right index fingertip was passively scanned against square-wave gratings...
This paper presents a new approach to data-driven modeling of isotropic haptic textures using frequency-decomposed neural networks from the contact acceleration data that are captured when a stylus is scanned on a textured surface with diverse scanning velocities and normal forces. We first describe a motorized texture scanner that was developed for accurate and easy data collection under a wide variety...
Vibrotactile flows refer to vibrotactile sensations that move continuously on the surface of a mobile device. They have been studied to render one-dimensional illusory movements using two actuators. In this work, we extend the dimension of vibrotactile flows to two dimensions by means of edge flows—vibrotactile flows that rotate along the edges of a rectangular mobile device, rendered using four actuators...
This paper presents a method to control ultrasonic waves on a beam, allowing to obtain a Multi-touch ultrasonic tactile stimulation in two points, to give the sensation to two fingers, from two piezoelectric transducers. The multi-modal approach and the vector control method are used to regulate the vibration amplitude, in order to modulate the friction coefficient with the fingers. An analytical...
In previous vision-to-touch sensory substitution approaches, including most ‘electronic white canes’, typical approaches include mapping space-to-space, space-to-intensity, or space-to-frequency. To our knowledge, however, mapping space to time-delay has not been considered. Yet, because organisms must anticipate impending collisions with obstacles or anticipate being contacted by approaching objects,...
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