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This paper proposes searching system of haptic information. As with text, auditory, and visual information, the search system of haptic information is realized. The searching system proposed in this paper consists of the environment-copying system and the search algorithm. Firstly, environmental data memory in the environment-copying system stores force responses in order to reproduce the environmental...
Handshaking represents a complex motor and cognitive task that poses several challenges from both engineering and neuroscientific viewpoints. In particular, it is an intriguing application which can be profitably studied in the field of Human Robot Interaction (HRI). In this work an experimental paradigm is proposed to investigate the neural correlates of handshaking between humans and between humans...
In this paper, we propose a method of obtaining the sense of touch by using the EEG. Multimodal device based on human sensory systems have obtained a lot of attention in the fields of human interface. Among the human sensory systems, especially, the sense of touch is important form of social interaction and it can have powerful emotional consequences. Therefore, it is important to improve tactile...
This work presents the development of novel POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistor) devices based tactile sensing system. The tactile sensing system, primarily developed for the robotic applications, consists of 5×5 POSFET touch sensing array and the associated read out and data acquisition system. The POSFET touch sensing devices are obtained by spin coating piezoelectric...
This paper studies dancing as a haptic interaction task with the aim of replacing one of the human dancing partners by an interactive robot. Starting from haptic recordings of human dancing couples, the interactive behavior of a male dancing partner is synthesized. For this purpose recorded dancing steps are approximated using multiple vector fields and faded into each other by simply switching between...
An important challenge in service robotics is to design user interfaces and interaction capabilities that can be used intuitively to enable the potential users to benefit from the robot's functionalities and to allow effective collaborative task execution. The Interactive Behavior Operated shopping Trolley (InBOT) addresses this issue at the example of supporting complex shopping tasks in large supermarkets...
In present days, teleoperation is used in many challenging applications where the tasks to be accomplished from a distance are very complex and require accurate and reliable reproduction of the haptic sensations involved. The main factor that can cause a certain degradation of the quality of teleoperation is the presence of time delays. An effective way of alleviating the consequences of time-delays...
This paper presents an ergonomic vibrotactile feedback device for the human arm. Due to the developed concept, the device can be used for a large spectrum of applications and a wide range of arm diameters since vibration segments are self-aligning to their intended positions. Furthermore, the device improves user convenience and movement capability as it is battery powered and controlled through a...
In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor impairment (on upper limb) is designed and implemented.
This article presents a strategy of haptic guidance for training based on a sliding model control law for path planning, designed from passivity theory, applied to haptic devices modelling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and a closed path planning in its space of...
Human fingerpad and planar objects in contact constitute a complex mechanical system, and contact mechanics involving in this system is important for object recognition and tactile virtual rendering. Although the interactions of fingerpad and compliant planar objects are common, there are not general mechanistic models for fingerpad and planar objects in contact to uncover the role of contact deformation...
This paper presents a finger pad force display device for a hand haptic interface for use in a virtual reality environment. The haptic interface consists of finger pad force display devices and a 3D fingertip haptic display device. The finger pad force display device is closed-loop controlled by the use of a tactile sensor. The design concept, the specifications of the finger pad force display and...
In this study, we used functional Magnetic Resonance Imaging (fMRI) to measure human brain activation in tactile recognition using tactile length recognition task performs without visual guidance by normal volunteer 12 persons. The result suggested that the cognitive processing includes initial processing from stimulus, a joint and a line into feeling information, and integration of feeling information...
Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement and adaptation through a tactile interface located on the body of a robot. We introduce the Tactile Policy Correction (TPC) algorithm, that employs...
In this paper, the design of a wearable vibrotactile display waist belt that can impart situation awareness information on the user's waist were presented. The hardware of the vibrotactile display consists of 12 tactors attached to an elastic belt and the associated control and drive circuit. A technical overview and experiments of the system is presented as well as preliminary results on tactile...
Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. On the other side, sliding mode control (SMC) has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. The paper deals with SMC design approach to bilateral...
The present paper introduces a hand haptic interface for use in palpation training in a virtual reality environment. The developed hand haptic interface consists of novel finger pad force display devices and a 3D fingertip haptic display device. The total number of displayed points is 14. The finger pad force display devices are open-loop controlled by a time interval control. The design concept,...
Haptic databases are created by Walsh associative memories and hand motion is reproduced by using the memories. In this paper, we focus on the virtual hand reproduction precision, so called reproduction-transparency. It is very important to precisely reproduce the hand-motion which has already started to find applications in industry.
This paper proposes environment-copying system using novel environmental data memory, which stores and reproduces haptic information in the real-world. The proposed environmental data memory treats the environmental characteristics based on momentum information, so that the size of the environmental data memory is able to be reduced. The proposed system reproduces the force information from the environment,...
The operator usually uses his hands to perform manipulation tasks. She has to feel the reaction forces in high-precision manipulation. The mechanism applied in the human interface device for force and tactile feedback is the most challenging (and usually the most expensive) part of a telepresence device. Bilateral control is a common solution in these systems. However, the coupled force and position...
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