Presentation Capability of Compound Displays for Pressure and Force

Abstract

The authors developed advanced haptic displays capable of stimulating the muscles and tendons of the forearms and tactile receptors in fingers to investigate tactile and force effects on simultaneous presentation. Display A is comprised of a master hand with two sets of tactile display with a 4-by-6 array of stimulus pins driven by micro-actuators and an articulated manipulator. Display B is comprised of an articulated manipulator and an 8-by-8 array type tactile display developed in a previous paper. A series of experiments was performed using the above A and B displays to verify the presentation capability of this display type. In Experiment I, subjects grasped virtual pegs and judged their diameters. In Experiment II, subjects tried to insert the pegs into holes. In Experiment III, the crossed-angle of a comparison texture was adjusted to bring it as close as possible to the standard texture fixed during experiments. Since diameter discrimination and insertion precision of the virtual peg were increased by tactile information, tactile-force presentation was effective for peg-in-hole for relatively large clearance. On the other hand, recognition capability for virtual texture was not enhanced compared to a mouse-mounted tactile display previously developed. While the pressure display is effective for instant of touch and peg rotation representations, rotation tactile imaging is not always effective for texture recognitions.

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

“…However, this display could not present force sensation because it was not equipped with a manipulator. Based on current study, we developed a griptype haptic device for peg-in-hole tasks, which was composed of a master hand with two sets of tactile displays [15]. We verified that a tactile-haptic display was effective for virtual peg-in-hole tasks in the case of relatively large clearance.…”

“…In previous works [14][15], we have developed prototype haptic displays for tactile and force sensation. In one of the previous study, we have developed a matrix-type experimental tactile display for virtual reality systems [14].…”

Virtual Figure Presentation using Pressure-Slippage-Generation Tactile Mouse

“…The operator does not move his finger on the tactile pad, and the tactile display moves together with the operator's hand. The position of the operator's hand is measured by an appropriate pointing device [4]- [6]. Although from the viewpoint of size the movable type is attractive because of few actuators, its palpation is unusual because of non-relative motion between fingertip and tactile pad.…”

Human capability of discriminating relief-like 2D figures in tactile displaying

“…In this paper, we investigated the mechanism of human tactile sensation to utilize the results of these studies for designing tactile and haptic displays. [4][5][6] We developed a tactile mouse 7 and a haptic display 8 and utilized a psychophysical experimental method developed in the above studies to evaluate the capability to display tactile images. Besides the abovementioned studies, there are many papers related to tactile displays.…”