Designing an encountered-type haptic display for multiple fingertip contacts based on the observation of human grasping behavior

Yokokohji, Yasuyoshi; Muramori, Nobuhiko; Sato, Yoichiro; Yoshikawa, Tsuneo

doi:10.1109/haptic.2004.1287179

Cited by 12 publications

(3 citation statements)

References 7 publications

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“…The tactile element must be positioned correctly both while in contact with an object and when in free space, in order to adequately anticipate future contacts. In this sense, the system is reminiscent of the "encountered object" class of haptic displays (Yokokohji et al 2004). The algorithm that drives this continuous adjustment of contact location is based on simple geometric models of the user's finger and the environment.…”

Section: Interaction Modelmentioning

confidence: 99%

Contact Location Display for Haptic Perception of Curvature and Object Motion

Provancher

Cutkosky

Kuchenbecker

et al. 2005

The International Journal of Robotics Research

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We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user's fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These experiments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks.

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Section: Interaction Modelmentioning

confidence: 99%

Contact Location Display for Haptic Perception of Curvature and Object Motion

Provancher

Cutkosky

Kuchenbecker

et al. 2005

The International Journal of Robotics Research

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“…These displays can present smooth proprioceptive sensation, but can not present a cutaneous one. In an encounter-type display [11,12], the display stays at the location of a virtual object and waits for the user to encounter it. With such devices, there is no need to prepare the whole surface in the environment, but contact situations are limited or mechanical probes have to be used to present the object's surface.…”

Section: Related Touch Displays and Characteristics Of Mptdmentioning

confidence: 99%

Length and Roughness Perception in a Moving-Plateau Touch Display

Watanabe

Godai

Ando

2012

Advances in Human-Computer Interaction

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We have proposed a tactile geometry display technique based on active finger movement. The technique uses a perceptual feature that, during finger movement, the length of a touched object is perceived to increase when the object is moved in the same direction as the finger movement or to decrease when it is moved in the opposite direction. With this display technique, a wide range of tactile shapes can be presented with realistic rigid edges and continuous surfaces. In this work, to further develop our technique, we performed psychophysical experiments to study perceptions of length and roughness under this presentation technique. The results indicated that the elongation (shrinkage) of the object can be observed regardless of the roughness of the touched object and that the perceived roughness of the object slightly changes but the changes are much smaller than those theoretically expected.

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“…These devices are usually mounted on a table and are not wearable. Such a device is presented in [10]. The authors describe the process of observing human grasping behavior and how these observations were implemented in their design process.…”

Section: Introductionmentioning

confidence: 99%

Analysis of subject specific grasping patterns

2020

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Existing haptic feedback devices are limited in their capabilities and are often cumbersome and heavy. In addition, these devices are generic and do not adapt to the users' grasping behavior. Potentially, a human-oriented design process could generate an improved design. While current research done on human grasping was aimed at finding common properties within the research population, we investigated the dynamic patterns that make human grasping behavior distinct rather than generalized, i.e. subject specific. Experiments were conducted on 31 subjects who performed grasping tasks on five different objects. The kinematics and kinetics parameters were measured using a motion capture system and force sensors. The collected data was processed through a pipeline of dimensionality reduction and clustering algorithms. Using finger joint angles and reaction forces as our features, we were able to classify these tasks with over 95% success. In addition, we examined the effects of the objects' mechanical properties on those patterns and the significance of the different features for the differentiation. Our results suggest that grasping patterns are, indeed, subject-specific; this, in turn, could suggest that a device capable of providing personalized feedback can improve the user experience and, in turn, increase the usability in different applications. This paper explores an undiscussed aspect of human dynamic patterns. Furthermore, the collected data offer a valuable dataset of human grasping behavior, containing 1083 grasp instances with both kinetics and kinematics data.

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Designing an encountered-type haptic display for multiple fingertip contacts based on the observation of human grasping behavior

Cited by 12 publications

References 7 publications

Contact Location Display for Haptic Perception of Curvature and Object Motion

Contact Location Display for Haptic Perception of Curvature and Object Motion

Length and Roughness Perception in a Moving-Plateau Touch Display

Analysis of subject specific grasping patterns

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