Virtual Reality (VR) has been proven to be capable of enabling its users to experience immersive virtual environments and interact with the computer. Most VR applications utilize stereo visual perception, however, stereo visual perception alone is not enough to fully immerse users in VR environments. Haptic feedback technology when applied to VR applications can offer improved immersion and interactivity and can extend the range of sensations experienced by the user. For example, tactile feedback can enable the user to feel an object they touch with their virtual hand or body. To provide tactile feedback in VR applications most researchers construct cumbersome mechanical actuators and linkages for applying feedback forces or vibrations to the user's real hand or body. Having to wear cumbersome feedback hardware can have the negative effect of making the user more aware of their physical body which can reduce the sense of being immersed in the VR world. To overcome this drawback we propose an alternative feedback system which is comprised of a hand gesture interface, a stereo visual head-set and an electro-tactile feedback system. Our electro-tactile feedback system is compact, simple, inexpensive and capable of delivering a variety of feedback sensations to the user. Experimental results are provided which demonstrate how the electro-tactile feedback system can enhance both the sense of immersion and interactivity for VR users. Abstract-Virtual Reality (VR) has been proven to be capable of enabling its users to experience immersive virtual environments and interact with the computer. Most VR applications utilize stereo visual perception, however, stereo visual perception alone is not enough to fully immerse users in VR environments. Haptic feedback technology when applied to VR applications can offer improved immersion and interactivity and can extend the range of sensations experienced by the user. For example, tactile feedback can enable the user to feel an object they touch with their virtual hand or body. To provide tactile feedback in VR applications most researchers construct cumbersome mechanical actuators and linkages for applying feedback forces or vibrations to the user's real hand or body. Having to wear cumbersome feedback hardware can have the negative effect of making the user more aware of their physical body which can reduce the sense of being immersed in the VR world. To overcome this drawback we propose an alternative feedback system which is comprised of a hand gesture interface, a stereo visual head-set and an electro-tactile feedback system. Our electro-tactile feedback system is compact, simple, inexpensive and capable of delivering a variety of feedback sensations to the user. Experimental results are provided which demonstrate how the electro-tactile feedback system can enhance both the sense of immersion and interactivity for VR users.

Tactile feedback from a remotely controlled robotic arm can facilitate certain tasks by enabling the user to experience tactile or force sensations from the robot's interaction with the environment. However, equipping both the robot and the user with tactile sensing and feedback systems can be complex, expensive, restrictive and application specific. This paper introduces a new tele-operation haptic feedback method involving electrotactile feedback. This feedback system is inexpensive, easy to setup and versatile in that it can provide the user with a diverse range of tactile sensations and is suitable for a variety of tasks. We demonstrate the potential of our electro-tactile feedback system by providing experimental results showing how electro-tactile feedback from a teleoperated robotic arm equipped with range sensors can help with avoiding obstacles in cluttered workspace. We also show how interactive tasks, like placing a peg in a hole, can be facilitated with electrotactile feedback from force sensors. This conference paper is available at Research Online: http://ro.uow.edu.au/eispapers/1252 F Abstract-Tactile feedback from a remotely controlled robotic arm can facilitate certain tasks by enabling the user to experience tactile or force sensations from the robot's interaction with the environment. However, equipping both the robot and the user with tactile sensing and feedback systems can be complex, expensive, restrictive and application specific. This paper introduces a new tele-operation haptic feedback method involving electro-tactile feedback. This feedback system is inexpensive, easy to setup and versatile in that it can provide the user with a diverse range of tactile sensations and is suitable for a variety of tasks. We demonstrate the potential of our electro-tactile feedback system by providing experimental results showing how electro-tactile feedback from a teleoperated robotic arm equipped with range sensors can help with avoiding obstacles in cluttered workspace. We also show how interactive tasks, like placing a peg in a hole, can be facilitated with electro-tactile feedback from force sensors.

Researchers have given attention to lower limb exoskeletons in recent years. Lower limb exoskeletons have been designed, prototype tested through experiments, and even produced. In general, lower limb exoskeletons have two different objectives: (1) rehabilitation and (2) assisting human work activities. Referring to these objectives, researchers have iteratively improved lower limb exoskeleton designs, especially in the location of actuators. Some of these devices use actuators, particularly on hips, ankles or knees of the users. Additionally, other devices employ a combination of actuators on multiple joints. In order to provide information about which actuator location is more suitable; a review study on the design of actuator locations is presented in this paper. The location of actuators is an important factor because it is related to the analysis of the design and the control system. This factor affects the entire lower limb exoskeleton’s performance and functionality. In addition, the disadvantages of several types of lower limb exoskeletons in terms of actuator locations and the challenges of the lower limb exoskeleton in the future are also presented in this paper.

Abstract2015 IEEE. Teleoperation can allow an operator to control a robot remotely in inaccessible and hostile places. To achieve more dexterous control of a tele-operated robot some researchers are developing user interfaces equipped with vision and tactile feedback. 3D visual perception and tactile feedback can also assist the operator to feel immersed in the robot's environment and embodied within the robot to some extent. Most existing tactile feedback systems use electro-mechanical actuators and linkages. However, these systems are complex, cumbersome and consequently make it difficult for the operator feel embodied within the robot. To improve on these drawbacks, this paper introduces an immersive teleoperation system comprised of a 3D stereo vision head set combined with an electro-tactile feedback system. Our electro-tactile feedback system is compact, nonmechanical and versatile. Experimental results are provided which show how this form of immersive 3D perception and tactile feedback system can enable the user to achieve more dexterous control of a robot arm by enabling the operator to effectively see what robot sees and experience what the robot feels while performing work with the robot.

Abstract2015 IEEE. Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of teleoperated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces. Abstract -Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of tele-operated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces.