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First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference最新文献

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The use of a proximity agent in a collaborative virtual environment with 6 degrees-of-freedom voxel-based haptic rendering 在协作虚拟环境中使用接近代理，具有6自由度基于体素的触觉渲染
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.137
A. Prior, K. Haines
{"title":"The use of a proximity agent in a collaborative virtual environment with 6 degrees-of-freedom voxel-based haptic rendering","authors":"A. Prior, K. Haines","doi":"10.1109/WHC.2005.137","DOIUrl":"https://doi.org/10.1109/WHC.2005.137","url":null,"abstract":"The extension of software designed primarily for a single-user haptic environment to a multi-user collaborative environment presents challenges on several fronts. This paper discusses the use of a proximity agent to overcome problems associated with the time allowances for collision detection and subsequent force/torque generation between pairs of dynamic objects in a voxel-based collaborative haptic environment.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133106055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
The perception of ecological textures by touch: does the perceptual space change under bimodal visual and haptic exploration? 触觉对生态肌理的感知:视觉与触觉双峰探索下的感知空间是否发生了变化?
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.134
S. Ballesteros, J. Reales, L. P. D. León, Beatriz García
{"title":"The perception of ecological textures by touch: does the perceptual space change under bimodal visual and haptic exploration?","authors":"S. Ballesteros, J. Reales, L. P. D. León, Beatriz García","doi":"10.1109/WHC.2005.134","DOIUrl":"https://doi.org/10.1109/WHC.2005.134","url":null,"abstract":"In 2 experiments, we investigated the dimensionality of 20 ecological surface textures explored haptically (Exp. 1) and by vision and touch (Exp.2). The goal was to find out how haptic texture perception is integrated with visual information and whether the dimensionality of the perceptual space changes with multimodal perception. In each experiment, human participants performed a spatial arrangement task, a free classification task, and a hedonic rating task. The results suggested that two dimensions interpreted as roughness/smoothness and slippery/adherent explain most of the data not only in touch but also in bimodal surface texture exploration.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129365770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
Design considerations for stand-alone haptic interfaces communicating via UDP protocol 通过UDP协议通信的独立触觉接口的设计考虑
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.31
Ryan M. Traylor, Danny Wilhelm, B. Adelstein, H. Tan
{"title":"Design considerations for stand-alone haptic interfaces communicating via UDP protocol","authors":"Ryan M. Traylor, Danny Wilhelm, B. Adelstein, H. Tan","doi":"10.1109/WHC.2005.31","DOIUrl":"https://doi.org/10.1109/WHC.2005.31","url":null,"abstract":"This work was motivated by the need for high speed communication between a stand-alone haptic interface and a computer running haptic rendering algorithms. This paper describes our recent work on the use of User Datagram Protocol (UDP) over Ethernet as a communication channel between a remote computer and a custom embedded controller built for a 3 DOF force-feedback haptic interface (the 3-DOF ministick). The results and observations from three experiments designed to test the use of detailed timing diagrams representing theoretical models are contrasted with experimental data in order to isolate potential problems and verify predicted models. Details of the hardware that enabled a haptic update rate of 3800 Hz are presented. Important information learned through the testing process is presented to the reader in order to help reduce development time for other systems in which Ethernet is desired as a communication channel.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122116387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
Diagnostics of arterial pressure pulse using haptic kymograph: remote diagnosis of vital signs through a telehaptic device 用触觉脉搏仪诊断动脉压力脉搏:通过远程触觉装置远程诊断生命体征
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.39
Youngseok Kim, R. Britto, T. Kesavadas
{"title":"Diagnostics of arterial pressure pulse using haptic kymograph: remote diagnosis of vital signs through a telehaptic device","authors":"Youngseok Kim, R. Britto, T. Kesavadas","doi":"10.1109/WHC.2005.39","DOIUrl":"https://doi.org/10.1109/WHC.2005.39","url":null,"abstract":"Although most diagnostic systems today largely depend on the automation of signal processing, we also observe experts still utilize their impressions for delicate or hard-to-recognizable symptoms. A good example is the diagnostics of arterial pressure pulses through the tactile perception, especially in oriental medicine. We have developed a real-time telehaptic rendering system where vital signs are captured, transmitted and replicated in a remote site. In this paper we report our developments that deal with network issues on telehaptics. We have also conducted human subject experiments on two haptic replication methods: kinesthetic stimulation with a PHANToM/sup /spl trade//, and vibrotactile stimulation with a new portable system developed here.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"C-29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126484166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Mechanisms of performance enhancement with force feedback 力反馈增强性能的机制
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.88
C. Wagner, R. Howe
{"title":"Mechanisms of performance enhancement with force feedback","authors":"C. Wagner, R. Howe","doi":"10.1109/WHC.2005.88","DOIUrl":"https://doi.org/10.1109/WHC.2005.88","url":null,"abstract":"The addition of force feedback to virtual environments and teleoperators provides many benefits to the user. However, the mechanisms by which force feedback improves performance remain unknown. We present an experiment demonstrating that force feedback can provide a physical constraint to an operator's motion, passively restraining the hand and reducing error even before the operator can voluntarily respond to the force stimulus. Because of the presence of force feedback, the magnitude of unwanted incursions into a virtual wall were reduced by up to 80%, as compared to the case with no force feedback. We also propose that a second order mechanical model of the operator's hand can be used to quantify the benefits of force feedback. Using our model, we are able to account on average for over 95% of the variance in the force on the hand.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117063446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 54
Motion synchronization in virtual environments with shared haptics and large time delays 具有共享触觉和大时间延迟的虚拟环境中的运动同步
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.95
J. Cheong, S. Niculescu, A. Annaswamy, M. Srinivasan
{"title":"Motion synchronization in virtual environments with shared haptics and large time delays","authors":"J. Cheong, S. Niculescu, A. Annaswamy, M. Srinivasan","doi":"10.1109/WHC.2005.95","DOIUrl":"https://doi.org/10.1109/WHC.2005.95","url":null,"abstract":"This paper deals with a synchronization scheme to achieve a high level of consistency in peer-to-peer based virtual environments (VEs) for shared haptics with large time delays. We mainly focus on the VEs with dynamic objects that show physically realistic behaviors. The synchronization scheme utilizes an advanced feedback controller to compensate for the state error between geographically separated sites. Using feedback control theory of time delay systems, the controller is shown to result in closed loop stability and robust to perturbations in the time delay. The maximum allowable delay is determined using stability analysis, which indicates the allowable bound on the communication delay for the system.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124473311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 45
Improving user comfort in haptic virtual environments through gravity compensation 通过重力补偿提高用户在触觉虚拟环境中的舒适度
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.78
Renaud Ott, M. Gutiérrez, D. Thalmann, F. Vexo
{"title":"Improving user comfort in haptic virtual environments through gravity compensation","authors":"Renaud Ott, M. Gutiérrez, D. Thalmann, F. Vexo","doi":"10.1109/WHC.2005.78","DOIUrl":"https://doi.org/10.1109/WHC.2005.78","url":null,"abstract":"Our experience with a Haptic Workstation/spl trade/ has shown that this device is uncomfortable to use during long sessions. The main reason is the uncomfortable posture of the arms, which must be kept outstretched horizontally while supporting the weight of an exoskeleton. We describe Zero-G, a real-time weight compensation system aimed at improving user comfort by compensating for the weight of both the exoskeleton and arms (zero gravity illusion). We present experimental results complemented with electro myography measures (EMG) as an indicator of muscular activity/fatigue. Our tests show how Zero-G exerts a positive influence on the reduction of muscular fatigue when using a Haptic Workstation/spl trade/.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"363 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122761524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 31
A FPGA haptics controller 一种FPGA触觉控制器
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.7
Marc Holbein, J. Zelek
{"title":"A FPGA haptics controller","authors":"Marc Holbein, J. Zelek","doi":"10.1109/WHC.2005.7","DOIUrl":"https://doi.org/10.1109/WHC.2005.7","url":null,"abstract":"Wearable haptics necessitates using low power, small, inexpensive tactors that are typically used as pager motors in cellular phones. One of their limitations is that it appears that control of their amplitude and frequency of operation is inherently linked. Existing haptics controllers have shortcomings such as limiting the electrical stimulation frequency to a single one or multiples of one, being confined to only a square wave, not being able to change the polarity and duty cycle on the fly to name a few. In order to explore and help define the electrical to mechanical mapping for electromagnetic (and other) tactors, a tighter controller is necessary. We report on such a controller that we developed based on FPGA (field programmable gate array) technology. The FPGA gate control program is hardware-based and is not limited by micro-controller event handling. The paper reports on our FPGA controller design and provides some examples of its use.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124138103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Bow spring/tendon actuation for low cost haptic interfaces 用于低成本触觉界面的弓弹簧/肌腱驱动
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.26
D. Lawrence, L. Pao, Sutha Aphanuphong
{"title":"Bow spring/tendon actuation for low cost haptic interfaces","authors":"D. Lawrence, L. Pao, Sutha Aphanuphong","doi":"10.1109/WHC.2005.26","DOIUrl":"https://doi.org/10.1109/WHC.2005.26","url":null,"abstract":"This paper describes a novel bow spring and tendon actuator design for a haptic interface that provides high-bandwidth force transmission to the fingers, with a large range of motion. This is combined with a low-cost stepper motor and a low-cost optical encoder, along with self-calibration and control compensation to produce a smooth force source with excellent hard virtual wall rendering capabilities. Four techniques are discussed to compensate for bow spring, friction, and ripple torques in the actuator. Experimental results quantify the achieved force rendering quality of each technique, and provide a measure of hard virtual surface rendering quality in one degree of freedom.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"693 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130942862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Validation of torso force feedback slope simulation through an energy cost comparison 通过能量成本比较验证躯干力反馈斜坡模拟
First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference Pub Date : 2005-03-18 DOI: 10.1109/WHC.2005.142
C. Parker, D. Carrier, J. Hollerbach
{"title":"Validation of torso force feedback slope simulation through an energy cost comparison","authors":"C. Parker, D. Carrier, J. Hollerbach","doi":"10.1109/WHC.2005.142","DOIUrl":"https://doi.org/10.1109/WHC.2005.142","url":null,"abstract":"This paper compares the energy cost of locomotion on a real slope and on a simulated slope using a tether force on the Sarcos Treadport. Walking and running both up and down slopes are investigated. Horizontal tether forces were based on f=Kmgsin(/spl theta/) to simulate the slope /spl theta/. For uphill walking and running, average values of K were determined to be 0.84 and 0.78. For downhill walking and running, average values of K were determined to be 0.72 and 0.66. These values of K reinforce previous findings from psychological and biomechanical studies that found K equal to an average of 0.65.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121620393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
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