Wentao Yu, B. E. Fritz, N. Pernalete, Michael Jurczyk, R. Dubey
{"title":"Sensors assisted telemanipulation for maximizing manipulation capabilities of persons with disabilities","authors":"Wentao Yu, B. E. Fritz, N. Pernalete, Michael Jurczyk, R. Dubey","doi":"10.1109/HAPTIC.2003.1191298","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191298","url":null,"abstract":"This paper describes a telemanipulation system to assist persons with disabilities perform dexterous manipulation tasks. This research is expected to enhance the teleoperation performance through the use of scaled mapping from master to slave manipulation based upon sensory data. This is particularly useful when the user has restricted range of movements due to certain disabilities such as muscular dystrophy, a stroke, or any form of pathological tremor. Assistance functions are used for mapping such that human input is enhanced rather than superseded by the computer. A common vocational rehabilitation test referred to as Box and Blocks was chosen to test the effectiveness of this sensor-assisted function. A variable scaling scheme was developed using available sensory data. In the simulation mode, a visual environment was created for the Box and Blocks test. This was used to predict if a person with disabilities would be able to perform a task comfortably. The real test was performed using a master and slave manipulator system with a camera and laser range finder. A motion constraint was added to the master to simulate a user with disabilities. The results demonstrated that the sensor assistance not only reduced required input motion, idle time, and execution time, but also increased manipulation accuracy during the Box and Blocks test.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130035951","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}
{"title":"Six degree-of-freedom haptic rendering of complex polygonal models","authors":"David E. Johnson, P. Willemsen","doi":"10.1109/HAPTIC.2003.1191285","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191285","url":null,"abstract":"This paper describes a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. The algorithm supports activities such as virtual prototyping of complex polygonal models and adding haptic interaction to virtual environments. The underlying collision system computes local minimum distances between the model controlled by the haptic device and the rest of the scene. The haptic rendering computes forces and torques on the moving model based on these local minimum distances.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124940001","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}
{"title":"Omni-directional treadmill system","authors":"Z. Wang, Kurt Bauernfeind, T. Sugar","doi":"10.1109/HAPTIC.2003.1191314","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191314","url":null,"abstract":"Our problem definition for a locomotion haptic treadmill is a device that allows a user to walk normally in place in any direction by insuring that the reaction force that is felt remains consistent in all planar directions. A novel omni-directional treadmill is presented in this paper which focuses on modulating the compliance in the plane. Powered offset casters are used as the transmission system to adjust the compliance between the user and the treadmill. The control system is developed using a rapid embedded programming method. A large cloth material or board can be used as the walking surface for the treadmill. A prototype system has been constructed.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122454028","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}
{"title":"Haptic task constraints for 3D interaction","authors":"R. Komerska, C. Ware","doi":"10.1109/HAPTIC.2003.1191295","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191295","url":null,"abstract":"We have created a haptically enabled fish tank VR that we call Haptic-GeoZui3D that utilizes a set of haptic widget and data object elements to support rapid and intuitive interaction within a large geographical data space. We leverage the center of workspace navigation metaphor with a Phantom 1.0 haptic device situated in a fish tank VR arrangement to provide a synergistic environment for developing, demonstrating and evaluating these haptic elements. We have developed several principles to guide our effort, chief of which is the notion that haptic forces should be used to provide constraints on user tasks, rather than mimic physical object forces. This paper provides a detailed overview of Haptic-GeoZui3D and it's application in path planning for Autonomous Undersea Vehicles (AUVs), as well as some ideas for future development.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122116067","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}
{"title":"Spatial low pass filters for pin actuated tactile displays","authors":"Jaime M. Lee, C. Wagner, S. Lederman, R. Howe","doi":"10.1109/HAPTIC.2003.1191230","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191230","url":null,"abstract":"A common tactile display design uses an array of mechanical pins covered by a rubber layer which acts as a spatial low pass filter. To characterize the perceptual relationship between this rubber layer and shape rendering, we conducted psychophysical experiments to examine the perception of a vertical line stimulus felt using rubber covers of varying thickness and stiffness. We found no significant change in perception for rubber thicknesses ranging from 1.5-3.0 mm and for stiffnesses ranging from 45-200 kN/m/sup 2/.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"165 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127196691","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}
{"title":"Design of a uniactuated bimanual haptic interface","authors":"Nicholas L. Bernstein, D. Lawrence, L. Pao","doi":"10.1109/HAPTIC.2003.1191300","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191300","url":null,"abstract":"This paper describes design considerations for adding nondominant hand interaction to a one-handed haptic interface. One implementation is described and contrasted to existing systems. We revisit the concept of indexing to move the virtual world relative to the real one and present several means of indexing that can be applied to a two-handed system. Two new hybrid modes of indexing are described and tested by novice users. Preliminary results suggest that users prefer one of the two hybrid modes over traditional modes.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129702845","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}
{"title":"Haptic editing of decoration and material properties","authors":"Laehyun Kim, G. Sukhatme, M. Desbrun","doi":"10.1109/HAPTIC.2003.1191280","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191280","url":null,"abstract":"We explore haptic editing as a powerful way to enhance haptic realism. Building upon the framework of a previous implicit-based haptic technique, our haptic decoration technique allows the user to first paint directly on 3D models, and then to sense the thickness variation due to the added paint. Meanwhile, material editing permits the user to edit and feel local material properties such as friction and stiffness in a natural way. In addition, we extended the initial haptic model to support some novel features including a magnetic surface attraction that forces the tool tip to stick to the surface of complex models.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129237397","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}
{"title":"Proceedings 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2003","authors":"","doi":"10.1109/HAPTIC.2003.1191201","DOIUrl":"https://doi.org/10.1109/HAPTIC.2003.1191201","url":null,"abstract":"The following topics are dealt with: haptic interfaces; virtual environment; teleoperator systems; device design; device evaluation and performance; control and modeling; psychophysics; and rendering.","PeriodicalId":177962,"journal":{"name":"11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.","volume":"427 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116568061","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}