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The common area of interest to attendees at this conference is physical interaction. Haptic and robotic technologies are beginning to merge into one discipline. Touching is the central theme that draws these disciplines together. Whether we are designing a surgical simulation to feel realistic or building a robot to cooperatively carry a load, we must make explicit choices about their mechanical behaviors...
I did not enter the field of haptic perception; rather, I was thrust into it during the 1980s by Susan Lederman, who along with my colleague Jack Loomis, was one of the few psychological scientists who actually studied this arcane sensory system! In our early work, Susan and I demonstrated that objects could be quickly and easily identified by the sense of touch, and we described the purposive, active...
Several studies evaluated vibrotactile stimuli on the head to aid orientation and communication. However, the acuity for vibration of the head's skin still needs to be explored. In this paper, we report the assessment of the spatial resolution on the head. We performed a 2AFC psychophysical experiment systematically varying the distance between pairs of stimuli in a standard-comparison approach. We...
Flywheel rotation provides a means for ungrounded kinesthetic (force) feedback, but devices that use a single flywheel to generate moment pulses inherently generate undesirable torque in directions orthogonal to the desired torque. We present a novel dual-flywheel gyro-moment haptic device capable of delivering short moment pulses about isolated axes in three-dimensional space. Rotating a single spinning...
This paper presents a novel cutaneous device capable of providing independent skin stretches at the palmar, dorsal, ulnar, and radial sides of the arm. It consists of a lightweight bracelet with four servo motors. Each motor actuates a cylindrical shaped end-effector that is able to rotate, generating skin stretch stimuli. To understand how to control and wear the device on the forearm to evoke the...
This paper describes the properties of sensations induced by a vibration speaker-type non-grounded haptic interface. We confirm that the vibration speaker generates a perceived force that pulls or pushes a user's hand in a particular direction when an asymmetric amplitude sound signal that is generated by inverting a part of a sine wave is input. We developed a prototype system and conducted evaluation...
When subjected to asymmetric accelerations at the fingertips, a human perceives an ungrounded pulling sensation. This paper presents a model and analysis of the underlying physics and perception behind this pulling sensation. We design a system with voicecoil actuators that are driven with step-ramp current pulses to create asymmetric accelerations. When the voicecoils are attached to a handle, the...
By targeting haptic sensory channels when walking, pedestrian navigation systems (as found in smartphone apps) have the potential to allow both visually impaired and sighted users to pay greater attention to their surroundings, compared to typical audio or visual based feedback. In line with this idea, we have proposed mechanotactile shape-changing interfaces as an alternative to the more commonly...
The aim of this current study is to determine whether the neck is a viable location to receive tactile directional information to substitute a vestibular loss. While wearing a vibrotactile neck device with 14 motors equally positioned around the neck, participants were asked to detect the exact location of the delivered stimulus delivered. The results show that the front of the neck may not be as...
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