Dynamic force simulator for force feedback human-machine interaction

Hashimoto, Hideki; Kunii, Yasuharu; Buss, Martin; Harashima, F.

doi:10.1109/vrais.1993.380776

Cited by 13 publications

(5 citation statements)

References 8 publications

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“…It also explicitly includes terms related to the external virtual manipulation forces, which can convey additional haptic sensory cues related to static or dynamic physical properties during dextrous, direct hand manipulation of virtual objects. Some relative work on feedback of external grasping forces in a two-or three-finger virtual manipulation has been reported in the literature by Howe in [20], and by Hashimoto et al in [18]. In [20], a "slight redistribution" of feedback forces on the thumb and the index of the human hand is used, during a two-finger telemanipulation task, to convey sensory information relative to the slipping of the grasped object from the slave hand.…”

Section: B Whole-hand Kinesthetic Display: the Conceptmentioning

confidence: 99%

“…In [20], a "slight redistribution" of feedback forces on the thumb and the index of the human hand is used, during a two-finger telemanipulation task, to convey sensory information relative to the slipping of the grasped object from the slave hand. Hashimoto and Buss [18] have also developed a system for dynamic force simulation, using a sensory feedback glove with 10 dof: three for the wrist, two for the thumb, three for the index and two for the rest of the fingers moving as a whole. A similar haptic device has been used by Iwata in [21].…”

Section: B Whole-hand Kinesthetic Display: the Conceptmentioning

confidence: 99%

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Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

Tzafestas

2003

IEEE Trans. Syst., Man, Cybern. A

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One of the key requirements for a Virtual Reality system is the multimodal, real-time interaction between the human operator and a computer simulated and animated environment. This paper investigates problems related particularly to the haptic interaction between the human operator and a virtual environment. The work presented here focuses on two issues: 1) the synthesis of whole-hand kinesthetic feedback, based on the application of forces (torques) on individual phalanges (joints) of the human hand, and 2) the experimental evaluation of this haptic feedback system, in terms of human haptic perception of virtual physical properties (such as the weight of a virtual manipulated object), using psychophysical methods. The proposed kinesthetic feedback methodology is based on the solution of a generalized force distribution problem for the human hand during virtual manipulation tasks. The solution is computationally efficient and has been experimentally implemented using an exoskeleton force-feedback glove. A series of experiments is reported concerning the perception of weight of manipulated virtual objects and the obtained results demonstrate the feasibility of the concept. Issues related to the use of sensory substitution techniques for the application of haptic feedback on the human hand are also discussed.

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Section: B Whole-hand Kinesthetic Display: the Conceptmentioning

confidence: 99%

Section: B Whole-hand Kinesthetic Display: the Conceptmentioning

confidence: 99%

Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

Tzafestas

2003

IEEE Trans. Syst., Man, Cybern. A

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“…The authors note that human arm dynamics do not affect system performance but play a major role in stability. An analytical overview of a generic dynamic force simulator based on measured-fingertip forces is provided in [30]. An alternative view to kinesthetic interaction at the human-machine interface is that the haptic device should regulate the relationship between the operator's intentional motion and that of the device rather than regulate a force relationship [31].…”

Section: B Literature Surveymentioning

confidence: 99%

A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects

Clover

1999

IEEE Trans. Syst., Man, Cybern. C

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Haptic or kinesthetic feedback is essential in many important virtual reality and telepresence applications. Previous research focuses on simulating static forces such as those encountered when interacting with a stiff object such as a wall. Past studies usually employ custom-made devices that are not readily available to other researchers. Consequently, many of the results found in the haptic feedback literature cannot be replicated independently.With experimental results, this paper demonstrates that "off the shelf," general-purpose robotics equipment can be incorporated into an effective haptic/kinesthetic feedback system. Such a system can accommodate a wide variety of virtual reality applications including training and telerobotics. An admittance control scheme is utilized, which enables the simulation of dynamic force and moment interaction as well as contact with stiff objects. The paper shows that the mechanical deficiencies (e.g., friction, inertia, and backlash) often associated with generalpurpose manipulators can be overcome with a suitable controlsystem architecture.

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“…Most research on skin sensations has been done using devices focused on touch. These studies include research on a multi-finger haptic presentation device [1], a device that presents a haptic sensation through the tension of a thread attached to an object [2], and a device that reproduces the feel of an object [3]. However, these devices present vibrations directly to the human body and do not use air as a medium.…”

Section: Introductionmentioning

confidence: 99%

Influence of different characteristics of air flow on a person’s sense evaluation

Ishikawa

Miura

Itoigawa

et al. 2018

ISASE

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The purpose of this study is to clarify the effects of people's psychological evaluation based on different characteristics of air flow. In this study, we gave male subjects various air-flow stimuli made by an Air Flow Generating Device (AFGD), which had been developed in a prior study, along with a Dyson Air Multiplier AM01, to the back of their hand, palm, cheek, and back of the neck in a hothouse, with a temperature set to 20 degrees and a humidity of 45%. Results showed that higher wind speed air flow brought about cool and negative sensations and air flow created by AM01 made participants colder and more comfortable than air flow made by AFGD.

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Dynamic force simulator for force feedback human-machine interaction

Cited by 13 publications

References 8 publications

Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

Whole-hand kinesthetic feedback and haptic perception in dextrous virtual manipulation

A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects

Influence of different characteristics of air flow on a person’s sense evaluation

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