2010 IEEE Haptics Symposium最新文献

{"title":"Effects of kinesthetic information on working memory for 2D sequential selection task","authors":"Gabjong Han, Jaebong Lee, In Lee, Seokhee Jeon, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444680","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444680","url":null,"abstract":"In this paper, we study the effect of haptic information for memorizing an order of selecting positions scattered on a two-dimensional plane. The task was motivated by the need of an effective training system for a cell production line in manufacturing plants. We constructed a collocated visuo-haptic training system that covers the workspace of an adult arm, and implemented three training methods that varied in the degree of kinesthetic information provided to the trainee. The methods were visual display only, visual display with enactment, and visual display with haptic guidance. We experimentally assessed the training performances of the three methods in terms of the number of repeated trials necessary to memorize the order of 2D sequential selections, along with subjective evaluations. Overall, the method of visual display with enactment exhibited the best performance, whereas the method of visual display with haptic guidance the worst performance. These results indicate that enactment can improve the memory performance by presenting the information through the haptic sensory channel (in addition to the visual channel), but active guidance may prohibit such positive effects by making the trainee less focus on the training.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123266295","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":"Force and contact location shading thresholds for smoothly rendering polygonal models","authors":"Andrew J. Doxon, David E. Johnson, H. Tan, W. Provancher","doi":"10.1109/HAPTIC.2010.5444659","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444659","url":null,"abstract":"Providing tactile feedback in concert with kinesthetic information can dramatically improve one's ability to interact with and explore virtual environments. However, the addition of tactile feedback also enhances the saliency of the vertices and edges of polygonal objects, which are commonly used as model representations in haptic environments. When the polygonal model is an approximate representation of a smooth surface, the heightened response to discontinuities reduces the effectiveness of tactile feedback. This paper addresses this issue by developing a smoothing algorithm, which can be used to provide both tactile and force shading. To investigate the increased sensitivity and effectiveness of our algorithm we conducted four perceptual experiments. Each experiment differed by the type of haptic feedback and whether haptic shading was rendered. Participants were asked to discriminate between an ideal smooth cylinder and its polygonal approximation. The number of polygons used to render the comparison stimulus was increased until the two objects were indistinguishable. Our results are reported as the maximum recommended angular change between adjacent polygons for rending smooth objects. It was found that the addition of contact location feedback significantly increased the sensitivity of the user to the discontinuities present in polygonal models. Use of shading algorithms was able to significantly reduce the sensitivity to edges in the environment, which allows an increase in the angle between adjacent polygonal surfaces. Our results can be used as a guideline for constructing polygon models that are meant to feel smooth.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129918198","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":"Dilatant fluid based tactile display -Basic concept","authors":"S. Saga, K. Deguchi","doi":"10.1109/HAPTIC.2010.5444638","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444638","url":null,"abstract":"Recent years with the spread of tactile interfaces, there are many types of tactile displays. Many types of these conventional devices are displaying the physical information of the environment, such as the object shapes or forces. In other hand recent devices displays not the physics itself but the information of cutaneous sensation. However these latter devices are not multi purposed but very much specialized devices. Each expression of the object requires each different device. Here we propose multi purpose oriented display using a fluid which is deformable and elasticity changeable. With this device we consider the new type of display which has expression of various type of elasticity and the possibility of controllable deformation. In this paper we propose tactile display using dilatant fluid as having dynamic elasticity and deformable material.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121268074","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 haptic simulator for osteosynthesis screw insertion","authors":"A. Majewicz, Jason Glasser, R. Bauer, S. Belkoff, S. Mears, A. Okamura","doi":"10.1109/HAPTIC.2010.5444610","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444610","url":null,"abstract":"Osteosynthesis procedures require the insertion of self-tapping orthopaedic screws through bone plates and into one or two layers of cortical bone, in order stabilize the fractured bones. Applying too much torque can cause the screw to strip and lose purchase, reducing the effective hold of the screw against the plate. Experienced surgeons have developed a “feel” for the torque-rotation relationship that reduces the risk of stripping. A haptic simulator for orthopaedic screw insertion procedures is desirable for training surgeons to learn this relationship in a virtual reality practice scenario. A one-degree-of-freedom friction-based haptic device was designed and used to present bone screw insertion scenarios to expert surgeon users. Evaluation of the system indicated that realism may be improved through vertical motion of the virtual screw, and device calibration based on measurements in human bone.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"296 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116529187","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":"Measuring and incorporating slip in data-driven haptic rendering","authors":"Raphael Höver, M. Harders","doi":"10.1109/HAPTIC.2010.5444658","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444658","url":null,"abstract":"In this paper we extended our data-driven haptic rendering approach towards slipping phenomena. In order to capture tool displacements on surfaces we designed a slip sensor based on an optical mouse sensor. Calibration experiments were performed to ensure accurate readings on rigid and deformable surfaces. For slow tool movements this calibration led to very accurate slip measurements. Moreover, we extended our rendering algorithm to incorporate slip measurements. For the rendering a simple slip model was evaluated. Results revealed that the slip model was able to reproduce some slip effects, however, not all dynamic phenomena could be recreated. To improve the rendering fidelity, a more sophisticated model will be required.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122480481","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 electrotactile stimulation to represent distribution of force vectors","authors":"Katsunari Sato, S. Tachi","doi":"10.1109/HAPTIC.2010.5444666","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444666","url":null,"abstract":"Transmission of the distribution of force vectors on a fingertip improves the stability of a given operation in a tele-operation system. As such, we seek the representation of the distribution of force vectors via an electrotactile display. The electrotactile display directly activates nerve fibers connected to mechanoreceptors, thereby representing a tactile sensation. The system has a simple structure, is easily controlled and, it has seen a number of different applications. However, the majority of the conventional electrotactile displays only present a symbolic sensation of contact. In this paper, we propose the design of electrotactile stimulation for the distribution of force vectors, on the basis of the concept of “tactile primary colors”. Considering that a selective stimulation of mechanoreceptors enables the representation of the distribution of force vectors, we evaluate the proposed design in terms of the distribution, magnitude, and direction of a force vector. The results demonstrate that the proposed design is a viable approach to representing the distribution of force vectors.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122011430","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 vibrotactile display via a rigid surface","authors":"Y. Visell, J. Cooperstock","doi":"10.1109/HAPTIC.2010.5444664","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444664","url":null,"abstract":"This paper describes the analysis, optimized redesign and evaluation of a high fidelity vibrotactile interface integrated in a rigid surface. The main application of the embodiment described here is vibrotactile display of virtual ground surface material properties for immersive environments, although the design principles are general. The device consists of a light, composite plate mounted on an elastic suspension, with integrated force sensors. It is actuated by a single voice coil motor. The structural dynamics of the device were optimized, within constraints imposed by the requirements of user interaction, and corrected via digital inverse filtering, in order to enable accurate simulation of virtual ground materials. Measurements of the resulting display demonstrate that it is capable of accurately reproducing forces of more than 40 N across a usable frequency band from 50 Hz to 750 Hz.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126260196","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":"Gait rehabilitation system for stair climbing and descending","authors":"H. Yano, Shintaro Tamefusa, N. Tanaka, Hideyuki Saitou, Hiroo Iwata","doi":"10.1109/HAPTIC.2010.5444627","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444627","url":null,"abstract":"This paper describes the development of a gait rehabilitation system with a locomotion interface (LI) for stair climbing or descending. The LI consists of two 2 DOF manipulators equipped with footpads. These can move the user's feet while his or her body remains stationary. The footpads follow the prerecorded motion of the feet of a healthy individual. For gait training, the user progresses iteratively through successively more advanced modes. In this study, three modes, enforced stair climbing/descending, semi-voluntary stair climbing/descending, and real stair climbing/descending were used. Comparisons were made between the modes for healthy individuals and a patient. The effectiveness of the system was examined using EMG and foot pressure data.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130933791","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":"Active Handrest for precision manipulation and ergonomic support","authors":"Mark A. Fehlberg, B. Gleeson, Levi C. Leishman, W. Provancher","doi":"10.1109/HAPTIC.2010.5444613","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444613","url":null,"abstract":"People use handrests every day to complete dexterous activities as routine as providing a signature. However, the dexterous workspace of the hand is somewhat limited. To address this limit, we have developed an Active Handrest to aid in precision manipulation tasks by extending a user's dexterous work space while providing ergonomic support for reduced fatigue - ideally while maintaining or even improving upon the precision obtained from a fixed handrest. Such a device could be useful for performing precision tasks over large workspaces, such as surgery, machining, or pick-and-place tasks. Our current prototype Active Handrest is a planar, computer controlled support for the user's wrist and arm that allows the user complete control over a grasped tool or manipulation device. The device uses force input from the user's hand, position input from a grasped manipulandum, or a combination of both force and position inputs. The control algorithm of the device then interprets and converts the input(s) into handrest motions. Pilot studies were conducted to optimize the control strategy by investigating the effects of control mode and of velocity limits. Task precision and completion time were used as performance metrics. Pilot testing showed that the device provided the greatest task precision when its velocity was limited to 5 mm/s, while using force input for its control strategy. An experiment was then conducted to compare the Active Handrest to various fixed wrist and arm support conditions, as well as the unsupported condition. Use of the Active Handrest was found to reduce task error by 36.6%, compared to performing the tasks with an unsupported arm, and by 26.0% compared to task completion with a static wrist support. These results are statistically significant (p ≪ 0.0001). While users generally completed experiments more slowly using the Active Handrest, performance with the Active Handrest shows lower sensitivity of task error relative to task completion time. Added experience with our drawing task leads to an increase in accuracy; however, the Active Handrest continues to outperform other hand support conditions (p ≪ 0.0001).","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131636286","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":"Simplified design of haptic display by extending one-point kinesthetic feedback to multipoint tactile feedback","authors":"K. Minamizawa, D. Prattichizzo, S. Tachi","doi":"10.1109/HAPTIC.2010.5444646","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444646","url":null,"abstract":"For designing a simple and more realistic haptic feedback system, we propose integrating an underactuated mechanism with one-point kinesthetic feedback from the arm with multipoint tactile feedback. By focusing on the division of roles between the cutaneous sensation in fingers and the proprioception in the arm. We have implemented a prototype system that provides kinesthetic feedback to the arm and tactile feedback to the fingers, examined the difference of weight recognition according to the applied point of kinesthetic feedback, and confirmed the effectiveness of the proposed method.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132909065","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}