A Fingertip Haptic Display for Improving Curvature Discrimination

Abstract

This paper presents a novel haptic device providing both kinesthetic and cutaneous cues informative of shape geometry at the contact point. The system is composed of a supporting kinesthetic haptic interface and an innovative fingertip haptic display that can instantaneously orient a small plate along the tangent plane at the contact point with a virtual shape and bring it in contact with the fingertip. We show how this local augmentation of displayed haptic information can improve human performance in shape exploration, by assessing perception thresholds in curvature discrimination. When kinesthetic feedback was enriched with cutaneous cues, we found a significantly lower threshold for curvature discrimination (1.51 Ϯ 0.2 m -1 vs. 2.62 Ϯ 0.61 m -1 , p Ͻ .05) for stimuli constituted of spheres with curvature ranging in the interval from 4 -6 m -1 . This confirms the importance in haptic perception of the stimulation of cutaneous mechanoreceptors at the fingertip.

Force and contact location shading thresholds for smoothly rendering polygonal models

“…One of these studies has also investigated providing tactile feedback from a pin array in combination with kinesthetic feedback [7]. Other interesting approaches to tactile/kinesthetic display include research on displaying the local object surface tangent [4,6]. Dostmohamed and Hayward present a device that utilizes a gimballed plate to represent the local surface tangent plane of virtual objects.…”

“…The motion of the gimballed plate is coordinated with the user's kinesthetic motions to display curved objects [4]. As a relatively sophisticated adaptation of the work by Dostmohamed and Hayward, Frisoli et al present a miniaturized finger-based tilting plate tactile display that can be attached to a kinesthetic display [6]. Finally, the author's prior studies have shown the potential of contact location feedback for enhancing object curvature and motion cues [15].…”

“…Our presented shading algorithm can also be used to provide force shading as an alternative to Morganbesser and Srinivasan's algorithm. This work builds on several recent studies to provide combined tactile and kinesthetic feedback [6,7] including ones using contact location tactile feedback in combination with a Phantom force feedback device [15,12]. While prior studies using contact location feedback were successful in showing the potential of this type of tactile feedback, these studies were conducted using highly specialized virtual environments composed of a collection of constant curvature segments [12].…”

Combining Wearable Finger Haptics and Augmented Reality: User Evaluation Using an External Camera and the Microsoft HoloLens

“…of Siena, Italy. {meli, salviettigio, prattichizzo}@diism.unisi.it 2 Pacchierotti is with CNRS, Univ Rennes, Inria, IRISA, Rennes, France.…”

Object Handling Precision Using Mouse-like Haptic Display Generating Tactile and Force Sensation

“…In addition, a tactile display with large tactile surfaces having spatial resolution is needed for object recognition. However, it is very difficult to produce a composite presentation device combining tactile sensation and force since no tactile displays that capable of satisfying these requirements simultaneously has been developed for practical use, in spite of the many attempts [9][10][11][12][13].…”