Haptic rendering - beyond visual computing - Deriving haptic design guidelines from human physiological, psychophysical, and neurological foundations

Hale, Kelly S.; Stanney, Kay M.

doi:10.1109/mcg.2004.1274059

Cited by 203 publications

(137 citation statements)

References 8 publications

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“…Guidelines for haptic rendering are presented in [10], while detailed implementation requirements are presented in [11,16]. A general review of the benefits and design guidelines for using haptic devices is presented in [16].…”

Section: Benefits and Requirements For Haptic Devicesmentioning

confidence: 99%

“…It is also impossible to transfer the feeling of hard surface being touched without using any pressure from the haptic device [10]. Vibration, however, greatly complements kinaesthetic and passive interfaces, as it can give a discrete event when a touch is detected, thereby informing users about the contact; enables displaying object's textures through modulating vibrations and has a much better dynamic range than jamming devices.…”

Section: Jamming Tubesmentioning

confidence: 99%

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Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki

Granosik

2016

J Intell Robot Syst

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This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the

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Section: Benefits and Requirements For Haptic Devicesmentioning

confidence: 99%

Section: Jamming Tubesmentioning

confidence: 99%

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Zubrycki

Granosik

2016

J Intell Robot Syst

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“…These vibro-motors are targeting Pacinian corpuscles in forearms. These corpuscles dominate the response for vibrations in range of 100-1 kHz [19][20][21][22]. These motors are typically used for cell phones, vibrating at a fixed frequency of 180 Hz, as shown in figure 9, which is most sensitive to human skin [23].…”

Section: An Arm Wearable Haptic Interface Designmentioning

confidence: 99%

Structural impact detection with vibro-haptic interfaces

Jung¹,

Park²,

Todd³

2016

Smart Mater. Struct.

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This paper presents a new sensing paradigm for structural impact detection using vibro-haptic interfaces. The goal of this study is to allow humans to 'feel' structural responses (impact, shape changes, and damage) and eventually determine health conditions of a structure. The target applications for this study are aerospace structures, in particular, airplane wings. Both hardware and software components are developed to realize the vibro-haptic-based impact detection system. First, L-shape piezoelectric sensor arrays are deployed to measure the acoustic emission data generated by impacts on a wing. Unique haptic signals are then generated by processing the measured acoustic emission data. These haptic signals are wirelessly transmitted to human arms, and with vibro-haptic interface, human pilots could identify impact location, intensity and possibility of subsequent damage initiation. With the haptic interface, the experimental results demonstrate that human could correctly identify such events, while reducing false indications on structural conditions by capitalizing on human's classification capability. Several important aspects of this study, including development of haptic interfaces, design of optimal human training strategies, and extension of the haptic capability into structural impact detection are summarized in this paper.

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“…Tactile displays generally consist of an array of independent vertical actuators, called taxels (the haptic counterparts of pixels). Several psychophysics strategies have been explored to provide graphical information through tactile displays, using static stimuli (shapes), vibrational stimuli (textures), or both [6,7]. Meanwhile, advances in the use of different actuation technologies in haptic devices have been recently reviewed [8,9], including the use of piezoelectric, electromagnetic, pneumatic and shape memory alloys.…”

Section: Introductionmentioning

confidence: 99%

“…Pitch size has been set in the range from 4 to 8 mm. In 2004, Hale et al recommended a threshold pressure for stimuli in fingertips of 60 mN/cm 2 , regardless the working taxel frequency [6]. However, more recent works have reported that the perception force threshold varies according to working frequency, sensing area, and surface shape [12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Optimization of the force and power consumption of a microfabricated magnetic actuator

Zárate

Tosolini

Petroni

et al. 2015

Sensors and Actuators A: Physical

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a b s t r a c tThe force (F) and the power consumption (P) of a magnetic actuator are modeled, measured and optimized in the context of developing micro-actuators for large arrays, such as in portable tactile displays for the visually impaired. We present a novel analytical approach complemented with finite element simulation (FEM) and experiment validation, showing that the optimization process can be performed considering a single figure of merit F/ √ P. The magnetic actuator is a disc-shaped permanent magnet displaced by planar microcoil. Numerous design parameters are evaluated, including the width and separation of the coil traces, the trace thickness, number of turns and the maximum and minimum radius of the coil. We obtained experimental values of F/ √ P ranging from 2 to 12 mN/ √ W using up to 2-layer coils of both microfabricated and commercial printed circuit board (PCB) technologies. This performance can be further improved by a factor of two by adopting a 6-layer technology. The method can be applied to a wide range of electromagnetic actuators.

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Haptic rendering - beyond visual computing - Deriving haptic design guidelines from human physiological, psychophysical, and neurological foundations

Cited by 203 publications

References 8 publications

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

Structural impact detection with vibro-haptic interfaces

Optimization of the force and power consumption of a microfabricated magnetic actuator

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