2010 IEEE Haptics Symposium最新文献_第7页

BlindAid: Virtual environment system for self-reliant trip planning and orientation and mobility training 盲助:虚拟环境系统，用于自力更生的旅行规划、定位和移动训练

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444631

D. W. Schloerb, O. Lahav, J. G. Desloge, M. Srinivasan

{"title":"BlindAid: Virtual environment system for self-reliant trip planning and orientation and mobility training","authors":"D. W. Schloerb, O. Lahav, J. G. Desloge, M. Srinivasan","doi":"10.1109/HAPTIC.2010.5444631","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444631","url":null,"abstract":"BlindAid is a virtual environment (VE) system that enables blind people to more easily learn about new environments on their own. The system is implemented on a desktop personal computer with a Phantom? haptic interface and three-dimensional spatialized audio. In addition to providing blind users with non-visual stimuli similar to what they will depend on in the actual environment, the system is designed to enhance and accelerate the user's understanding of the unknown environment by giving him/her the ability to interact with the VE in ways that are not possible in the real world. The BlindAid system was developed and evaluated as part of an experimental study related to how people who are blind build cognitive maps of their physical environment and how recent advances in VE technology might support orientation and mobility (O&M) training. The current system is able to provide a visual display and record the user's actions in the VE for later review by researchers and O&M instructors. The paper focuses on the technical development of the system with some results from an initial evaluation by four blind volunteers.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"127 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":"132270371","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: 56

Discrimination of consonant articulation location by tactile stimulation of the forearm 通过前臂触觉刺激辨别辅音发音位置

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444681

Elaine Y. Wong, A. Israr, M. O'Malley

{"title":"Discrimination of consonant articulation location by tactile stimulation of the forearm","authors":"Elaine Y. Wong, A. Israr, M. O'Malley","doi":"10.1109/HAPTIC.2010.5444681","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444681","url":null,"abstract":"In this paper, we evaluate the ability of four able-bodied participants to discriminate the articulation location for spoken consonants, using tactile cues presented on the dorsal side of their forearm. Additionally, we determine the processing capability of the dorsal forearm's skin with a tactile sleeve worn by ten participants using two psychophysical studies. Our first study shows that 2–3 tactors arranged along the length of the forearm can be reliably identified by human users, when only the location of vibration is varied. Our second study indicates that the physical placement of localized vibrations map linearly to the perceived physical arrangement. Based on these findings, the subsequent speech experiment uses six tactors placed equidistant from each other and maps location of the constriction inside the mouth as directional cues on the forearm. Results of the speech study show that participants are able to indicate which of two randomly presented tactile cues (derived from consonant-vowel-consonant (CVC) non-sense syllables) has the preceding consonant closer to the lips. The discrimination performance is better (i) with fricatives than plosives, (ii) when the consonants are produced further apart inside the mouth, and (iii) when both place and manner of articulation feature is varied. The study also shows that discrimination performance with cues applied to the forearm is inferior to that with the fingerpads utilized in a previous study.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"66 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":"132614567","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: 14

Stiffness modulation for Haptic Augmented Reality: Extension to 3D interaction 触觉增强现实的刚度调制:扩展到3D交互

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444645

Seokhee Jeon, Seungmoon Choi

{"title":"Stiffness modulation for Haptic Augmented Reality: Extension to 3D interaction","authors":"Seokhee Jeon, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444645","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444645","url":null,"abstract":"Haptic Augmented Reality (AR) allows a user to touch a real environment augmented with synthetic haptic stimuli. For example, medical students can palpate a virtual tumor inside a real mannequin using a haptic AR system to practice cancer detection. To realize such functionality, we need to alter the haptic attributes of a real object by means of virtual haptic feedback. Previously, we presented a haptic AR system with stiffness as a goal modulation property, and demonstrated its competent physical and perceptual performances for 1D interaction. In this paper, we extend the system so that a user can interact with a real object in any 3D exploratory pattern while perceiving its augmented stiffness. A series of algorithms are developed for contact detection, deformation estimation, force rendering, and force control. Their performances are thoroughly evaluated with real samples. A particular focus has been on minimizing the amount of preprocessing such as geometry modeling. Our haptic AR system can provide convincing stiffness modulation for real objects of relatively homogeneous deformation properties. The limitations of our AR system are also discussed along with a plan for future work.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"43 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":"114630968","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: 23

Finding a feature on a 3D object through single-digit haptic exploration 通过单个手指的触觉探索在3D对象上找到一个特征

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444672

Kristina Huynh, Cara E. Stepp, Lee W. White, J. E. Colgate, Y. Matsuoka

{"title":"Finding a feature on a 3D object through single-digit haptic exploration","authors":"Kristina Huynh, Cara E. Stepp, Lee W. White, J. E. Colgate, Y. Matsuoka","doi":"10.1109/HAPTIC.2010.5444672","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444672","url":null,"abstract":"Humans use tactile and kinesthetic cues to easily identify the location of an object feature without vision. This preliminary work quantitatively examined the behaviors of 15 individuals locating a target on an object with a single digit (index or thumb). Search methods could be categorized into one of three search strategies, termed “scanning,” “landmark,” and “direct.” The scanning strategy consisted of (1)back and forth scanning and (2)confirmation of the target, and was always utilized in trials in which the target location was unknown. The landmark strategy consisted of (1)contour following, (2)ballistic movement from an edge toward the target, and (3)error correction and confirmation of the target. The direct strategy consisted of (1)ballistic movement from the start position directly to the target, and (2)error correction and confirmation of the target. Follow-up relocalization trials were executed with the landmark strategy 42% and the direct strategy 58% of the time. The landmark strategy was utilized significantly more often by the index finger than by the thumb. Future work to understand how strategy selection depends on the strength of an individual's internal model of the 3D object and the uncertainty of finger location with respect to the object will inform the development of a computational model of human object exploration.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"17 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":"124510008","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: 10

Effects of haptic guidance and disturbance on motor learning: Potential advantage of haptic disturbance 触觉引导和干扰对运动学习的影响:触觉干扰的潜在优势

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444635

Jaebong Lee, Seungmoon Choi

{"title":"Effects of haptic guidance and disturbance on motor learning: Potential advantage of haptic disturbance","authors":"Jaebong Lee, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444635","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444635","url":null,"abstract":"One of the primary goals of haptic guidance is to facilitate the learning of complex human motor skills by providing haptic cues that are helpful to induce desired movements. Nevertheless, a majority of previous studies have found that haptic guidance is ineffective, or sometimes even detrimental, to motor skill learning. In this paper, we propose the opposite concept, haptic disturbance, and evaluate its efficacy. In haptic disturbance, haptic cues that interfere with the movements of a learner are presented during training. We designed two methods of haptic disturbance using repulsive and noise-like forces, respectively. The effects of these methods were experimentally assessed, comparatively with the conventional methods of visual learning only and progressive haptic guidance. The motor task was to track a dot moving on a 2D plane with a haptic interface operated with one arm. We found that during training, the progressive haptic guidance showed the best tracking accuracy, but in immediate and delayed retention tests, the noise-like haptic disturbance led to the best performance. The results suggest high potentials for haptic disturbance to be a general strategy for expediting the motor learning process.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"2006 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":"123802026","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: 107

Haptic figure-ground differentation via a haptic glance 触觉图形-地面的触觉区分通过触觉的一瞥

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444676

D. Pawluk, R. Kitada, Aneta Abramowicz, C. Hamilton, S. Lederman

引用次数: 6

A higher order polynomial reproducing radial basis function neural network (HOPR-RBFN) for real-time interactive simulations of nonlinear deformable bodies with haptic feedback 高阶多项式再现径向基函数神经网络(HOPR-RBFN)用于具有触觉反馈的非线性变形体的实时交互仿真

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444607

Dhanannjay Deo, S. De

{"title":"A higher order polynomial reproducing radial basis function neural network (HOPR-RBFN) for real-time interactive simulations of nonlinear deformable bodies with haptic feedback","authors":"Dhanannjay Deo, S. De","doi":"10.1109/HAPTIC.2010.5444607","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444607","url":null,"abstract":"Interactive simulation of nonlinear deformable bodies with haptic feedback is particularly challenging as the corresponding coupled nonlinear equations must be solved at a high rate of 1 kHz. With increasing demand on the complexity of the models and scenarios that must be simulated to develop interactive applications such as surgical simulators, and given the current state of hardware, a naïve solution strategy based on iterative finite element algorithms is not feasible. However, much advantage may be gained if the deformation response of the computational models may be characterized a priori and a radial basis function neural network (RBFN) is trained based upon this data. Once trained, the RBFN may be used during real time computations to calculate deformation fields and reaction forces with minimal computational cost. However, traditional RBFNs have zeroth order polynomial accuracy, implying that they cannot recreate polynomial fields. Since the error in the RBFN approximation is governed by the highest order of the polynomial that the approximant can reproduce, we have developed and successfully tested a higher order polynomial reproducing RBFN (HOPR-RBFN) which, compared to traditional RBFN, reduces the approximation error significantly and allows much fewer neurons to be used for comparable accuracy. Results are provided for realistic surgical scenarios with hyperelastic (neo-Hookean) material models within a fully nonlinear large deformation simulation framework.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"22 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":"121970671","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

Haptic guides in cooperative virtual environments: Design and human performance evaluation 协作虚拟环境中的触觉引导:设计和人的性能评估

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444616

S. Ullah, P. Richard, S. Otmane, Mickael Naud, M. Mallem

引用次数: 20

Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs 使用会话启动协议(SIP)和高级触觉编解码器建立多模态远程呈现会话

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444637

H. King, B. Hannaford, J. Kammerl, E. Steinbach

{"title":"Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs","authors":"H. King, B. Hannaford, J. Kammerl, E. Steinbach","doi":"10.1109/HAPTIC.2010.5444637","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444637","url":null,"abstract":"In telepresence and telemanipulation systems, multimodal data is exchanged over a network allowing humans to experience and to operate in remote or inaccessible environments. To operate over the global Internet and connect to multiple telepresence systems, a flexible framework for initiating, handling and terminating Internet-based telerobotic sessions becomes necessary. In this work, we explore the use of standard Internet session and transport protocols in the context of telerobotic applications. Session Initiation Protocol (SIP) is widely used to handle multimedia teleconference sessions with audio, video or text, and provides many services advantageous for establishing connections between heterogeneous haptic interfaces and telerobotic systems. We apply the session paradigm to the creation and negotiation of haptic telepresence sessions and propose to extend this framework to work with the haptic modality. The notion of a “haptic codec” is introduced for transforming haptic data into a common format, applying data reduction or compression techniques and implementing teleoperation control architectures. The use of the Real-Time Transport Protocol (RTP) is explored for transport of teleoperation data. Finally, a prototype and demonstrator system is presented for evaluation of the proposed framework.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"96 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":"132381964","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: 22

An iterative approach to optimizing multi-user networked haptic simulations 优化多用户网络触觉模拟的迭代方法

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444661

Sina Niakosari, S. Sirouspour

引用次数: 2