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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...
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...
We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the...
We propose a tactile enhancement structure inspired by hair follicle receptors. Unlike other receptors, part of the hair follicle receptor is exposed to the outside. Recent research has shown that skin hair contributes to perception of minute forces that cannot be perceived with glabrous skin. We considered how the skin perceives these minute forces. Our tactile enhancement device mimics the structure...
This paper proposes a new concept of passivation method to increase the dynamic range of impedance that a haptic interface can passively interact. The proposed method is motivated by force vs. position graph, which shows a pressing and releasing path when the haptic interface is interacting with the Virtual Environment (VE). The main reason of the active behavior was on the fact that the releasing...
The use of multiple unmanned aerial vehicles (UAVs) is increasingly being incorporated into a wide range of teleoperation applications. To date, relevant research has largely been focused on the development of appropriate control schemes. In this paper, we extend previous research by investigating how control performance could be improved by providing the teleoperator with haptic feedback cues. First,...
In a haptic shared control system, a virtual assistant and a human share the control over performed actions to facilitate execution of manipulation tasks. The assistance level determines the amount of support provided by the assistant. It should be adapted autonomously such that task performance and human effort are optimized. The effect of the assistance level on task performance and human effort...
Stability is a major requirement in haptic interaction since unstable behavior impairs realism and may injure the human operator. In this paper, we propose a force bounding approach by which a robustly stable haptic interaction is made possible for any (linear, nonlinear, delayed etc.) virtual environments. Based on the passivity condition for sampled-data haptic systems, a necessary and sufficient...
Nowadays, almost all kinesthetic haptic devices commercially available have been conceived and developed for just one interaction point. Many mechanical conflicts arise when trying to put to work together two or more conventional haptic devices. Due to collisions and other incompatibilities the resulting workspace when using these configurations is usually too small, making this a non-viable option.
In cognitive science and philosophy, the conception of cognition has evolved rapidly in recent years. It is no longer strictly a process that happens inside the head, intervening between perception and action. Instead, cognition is considered something that subsumes both perception and action, engages the body, and even incorporates the response of objects in the environment to actions taken upon...
Salient features help identify objects. However, they can also influence subsequent comparison between objects. In this study, we investigate the influence of edges on perception of the shape of 3D objects. We tested two conditions in which subjects were asked to indicate the orientation of a block by exploring it either statically without touching the edges or freely. When edges were excluded, the...
We explore the effects of parameters constituting a second order dynamic system on the rate of human motor adaptation while performing a rhythmic dynamic task. In our experiments, participants excite virtual second-order systems at resonance via a haptic interface. After overtraining subjects with a nominal system, we unexpectedly change the system parameters and study the resulting motor adaptation...
For reasons that have not yet been investigated, some textures appeal to human touch. We investigate the relationships between the physical and sensory factors, the predictability of textures, and their appeal to human touch. We conduct sensory evaluation of 24 artificial clay textures, and the results are analyzed using factor analysis. Experimental results identify five sensory factors. We reveal...
Haptics has been used as a natural way for humans to communicate with computers in collaborative virtual environments. Human-computer collaboration is typically achieved by sharing control of the task between a human and a computer operator. An important research challenge in the field addresses the need to realize intention recognition and response, which involves a decision making process between...
A learning framework with a bidirectional communication channel is proposed, where a human performs several demonstrations of a task using a haptic device (providing him/her with force-torque feedback) while a robot captures these executions using only its force-based perceptive system. Our work departs from the usual approaches to learning by demonstration in that the robot has to execute the task...
This article accompanies a video that presents a bimanual haptic device composed of two DLR/KUKA Light-Weight Robot (LWR) arms. The LWRs have similar dimensions to human arms, and can be operated in torque and position control mode at an update rate of 1 kHz. The two robots are mounted behind the user, such that the intersecting workspace of the robots and the human arms becomes maximal. In order...
We propose a novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and...
One of the key challenges in mobile robot teleoperation is master-slave kinematic dissimilarity: master device (e.g., joystick) has a bounded workspace, while slave mobile robot can/should cover an unbounded workspace. A direct master-position/slave-velocity coupling has been frequently used for this, which, yet, in general, violates passivity of the closed-loop system, since the master system with...
Technology and science have been developing rapidly, and robotic system for human support has been researched recently. Considering the effect of low birthrate and longevity, this system is thought to become important in the future. In this research, environmental embedded haptic system for human support is developed. Action recognition and support is realized by the concept based on the modal transformation,...
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