First evaluation of a novel tactile display exerting shear force via lateral displacement

Drewing, Knut; Fritschi, Michael; Zopf, Regine; Ernst, Marc O.; Buss, Martin

doi:10.1145/1060581.1060586

Cited by 51 publications

(24 citation statements)

References 32 publications

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“…Recently, there has been increasing evidence of the effectiveness of this approach to create the experience of small shapes (Levesque et al, 2005) or weak surface undulation (Kikuuwe et al, 2005). At the same time, skin lateral deformation is being studied for its perceptual contributions to the design of displays (Biggs and Srinivasan, 2002;Drewing et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Wang

Hayward

2009

The International Journal of Robotics Research

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This paper presents a tactile transducer device that is optimized from biomechanical data and has a compact, yet modular design. The tactile transducer comprises a 6 × 10 piezo bimorph actuator array with a spatial resolution of 1.8 × 1.2 millimeters and a wide temporal bandwidth. The actuator mounting method was improved from a conventional cantilever method to a dual-pinned method, giving the actuator the capability of maximally deforming glabrous skin for laterotactile stimulation. The results were validated using a psychophysical method. The tactile display device is modular, appeals to ordinary fabrication methods, and can be assembled and dismantled in a short time for debugging and maintenance. It weighs 60 g, it is self-contained in a 150 cm 3 volume and may be interfaced to most computers, provided that two analog outputs and six digital io lines are available. Psychophysical experiments were carried out to assess its effectiveness in rendering virtual tactile features.

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Section: Introductionmentioning

confidence: 99%

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Wang

Hayward

2009

The International Journal of Robotics Research

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“…Others solved an inverse problem by matching the predicted shape with measurements, but the results were unreliable because of the assumptions required. Knowledge of the detailed behavior of the skin could also be of interest to tactile display designers (Moy et al, 2000b;Drewing et al, 2005;Levesque et al, 2005), and have numerous clinical applications (Payne, 1991).…”

Section: Introductionmentioning

confidence: 99%

In vivo biomechanics of the fingerpad skin under local tangential traction

Wang

Hayward

2007

Journal of Biomechanics

141

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Small patches of fingerpad glabrous skin in human subjects were tested in vivo for their biomechanical properties under tangential loading and for large deformations. These conditions included stretching and shearing the skin at a length scale of 0.3 mm using an apparatus comprising a pair of piezoelectric benders arranged to increase the stiffness/free deflection tradeoff when compared to ordinary cantilevered benders. It was then possible to test the skin with up to 80% of tangential strain. With feedback control, it was also possible to create isotonic and isometric testing conditions. The results showed much variability across subjects and it was seen that the glabrous skin exhibited nonlinear stiffening in tangential traction. The skin was consistently more elastic across the ridges than along the ridges regardless of the location of the sample on the fingerpad. The skin behaved visco-elastically but relaxed about twice as fast than it crept. Finally, it was found that under large deformation, there was consistently an 80% of hysteretic loss for a wide range of loading conditions.

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“…Keyson and Houtsma (1995) obtained a threshold angle between 11°and 17°depending on the tested direction. Drewing et al (2005) found a threshold angle between 23°and 35°.…”

Section: Perception and Discrimination Of Directionmentioning

confidence: 94%

“…The skin is stretched by the tactor, in order to simulate the shear forces. The first prototypes introduced by Drewing et al (2005) and Vitello et al (2006) were too cumbersome and heavy to be moved with the hand. But recent papers proposed a more compact version that can be worn (Gleeson et al, 2010b) or integrated into control devices, such as game pads (Guinan et al, 2013a), joysticks (Gwilliam et al, 2013), haptic arms, or wireless trackers (Guinan et al, 2013b).…”

Section: Tactor Displacementmentioning

confidence: 99%

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

et al. 2016

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The fingertips are one of the most important and sensitive parts of our body. They are the first stimulated areas of the hand when we interact with our environment. Providing haptic feedback to the fingertips in virtual reality could, thus, drastically improve perception and interaction with virtual environments. In this paper, we present a modular approach called HapTip to display such haptic sensations at the level of the fingertips. This approach relies on a wearable and compact haptic device able to simulate 2 Degree of Freedom (DoF) shear forces on the fingertip with a displacement range of ±2 mm. Several modules can be added and used jointly in order to address multi-finger and/or bimanual scenarios in virtual environments. For that purpose, we introduce several haptic rendering techniques to cover different cases of 3D interaction, such as touching a rough virtual surface, or feeling the inertia or weight of a virtual object. In order to illustrate the possibilities offered by HapTip, we provide four use cases focused on touching or grasping virtual objects. To validate the efficiency of our approach, we also conducted experiments to assess the tactile perception obtained with HapTip. Our results show that participants can successfully discriminate the directions of the 2 DoF stimulation of our haptic device. We found also that participants could well perceive different weights of virtual objects simulated using two HapTip devices. We believe that HapTip could be used in numerous applications in virtual reality for which 3D manipulation and tactile sensations are often crucial, such as in virtual prototyping or virtual training.

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First evaluation of a novel tactile display exerting shear force via lateral displacement

Cited by 51 publications

References 32 publications

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

In vivo biomechanics of the fingerpad skin under local tangential traction

HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments

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