2010 IEEE Haptics Symposium最新文献_第8页

Haptic exploration of spheres: Techniques and initial experiments 球体的触觉探索:技术和初步实验

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444693

B. Hannaford, J. Dosher, S. Venkatachalam

引用次数: 3

Haptic noise cancellation: Restoring force perception in robotically-assisted beating heart surgery 触觉噪声消除:在机器人辅助心脏手术中恢复力量感知

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444626

Shelten G. Yuen, K. Dubec, R. Howe

{"title":"Haptic noise cancellation: Restoring force perception in robotically-assisted beating heart surgery","authors":"Shelten G. Yuen, K. Dubec, R. Howe","doi":"10.1109/HAPTIC.2010.5444626","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444626","url":null,"abstract":"Beating heart surgical methods have the potential to remove the need for the heart-lung machine and its attendant side effects, but must contend with the motion of the heart. Recent research in robotically-assisted surgery has produced a handheld, actuated instrument that can track and compensate for heart motion; however, the reaction forces caused by the actuation mechanism make it difficult for the surgeon to feel the heart during the operation, which can lead to unsafe tissue manipulation. This paper investigates an instrument design that negates reaction forces to the user by moving a counterweight out of phase with the moving mass of the actuator. The resulting instrument retains the tracking and motion compensation abilities of the current instrument, but reduces reaction forces felt by the user by over 80%. Subjects used the new instrument in an in vitro beating heart surgical contact task and performance was compared to the previously existing instrument. The new instrument provided a 28% increase in user force sensitivity and improved user reaction times by 51%, indicating that the new instrument greatly enhances force perception in beating heart tasks.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"1002 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":"133599570","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: 6

Exploring the underlying structure of haptic-based handwritten signatures using visual data mining techniques 使用视觉数据挖掘技术探索基于触觉的手写签名的底层结构

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444614

N. Sakr, F. A. Alsulaiman, J. J. Valdés, Abdulmotaleb El Saddik, N. Georganas

{"title":"Exploring the underlying structure of haptic-based handwritten signatures using visual data mining techniques","authors":"N. Sakr, F. A. Alsulaiman, J. J. Valdés, Abdulmotaleb El Saddik, N. Georganas","doi":"10.1109/HAPTIC.2010.5444614","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444614","url":null,"abstract":"In this paper, multidimensional and time-varying haptic-based handwritten signatures are analyzed within a visual data mining paradigm while relying on unsupervised construction of virtual reality spaces using classical optimization and genetic programming. Specifically, the suggested approaches make use of nonlinear transformations to map a high dimensional feature space into another space of smaller dimension while minimizing some error measure of information loss. A comparison between genetic programming and classical optimization techniques in the construction of visual spaces using large haptic datasets, is provided. In addition, different distance functions (used in the nonlinear mapping procedure between the original and visual spaces) are examined to explore whether the choice of measure affects the representation accuracy of the computed visual spaces. Furthermore, different classifiers (Support Vector Machines (SVM), k-nearest neighbors (k-NN), and Nai¿ve Bayes) are exploited in order to evaluate the potential discrimination power of the generated attributes. The results show that the relationships between the haptic data objects and their classes can be appreciated in most of the obtained spaces regardless of the mapping error. Also, spaces computed using classical optimization resulted in lower mapping errors and better discrimination power than genetic programming, but the later provides explicit equations relating the original and the new spaces.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"34 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":"126424382","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: 6

Expressive haptic rendering with cartoon-inspired effects 富有表现力的触觉渲染与卡通启发的效果

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444656

B. Gleeson, David E. Johnson

引用次数: 6

ReFlex, a haptic wrist interface for motor learning and rehabilitation ReFlex，一个用于运动学习和康复的触觉手腕接口

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444622

D. Chapuis, Remco Benthem de Grave, O. Lambercy, R. Gassert

{"title":"ReFlex, a haptic wrist interface for motor learning and rehabilitation","authors":"D. Chapuis, Remco Benthem de Grave, O. Lambercy, R. Gassert","doi":"10.1109/HAPTIC.2010.5444622","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444622","url":null,"abstract":"Haptic interfaces have played an important role in the investigation of human factors, the identification of passive joint properties and gaining a better understanding of how the central nervous system learns to compensate for external dynamic perturbations through neuromuscular adaptation. Such devices further promise novel therapeutic approaches in neurorehabilitation, by assisting the patient to train functional tasks in an as-needed manner. With the aim of gaining deeper insights into the role of haptic feedback in motor learning and neurorehabilitation, we have developed a novel robotic wrist interface, the ReFlex, using a hybrid actuation approach, allowing to display a wider range of output impedances as well as a safe and efficient means of blocking the output for isometric training and rendering stable resistive force fields. This wrist module is mounted on a highly adjustable platform based on the consideration of constraints imposed by human factors and biomechanics. The system gives access and space for the placement of surface electrodes for electromyography of the main wrist and finger flexor/extensor muscle groups. We present the design of the ReFlex and analyze its performances in displaying forces and blocking the output. A method to increase the maximum brake torque and apparent output stiffness is described and validated.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"131 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":"121627728","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: 16

Virtual object manipulation system with substitutive display of tangential force and slip by control of vibrotactile phantom sensation 通过振动触觉幻觉控制替代切向力和滑动显示的虚拟物体操作系统

2010 IEEE Haptics Symposium Pub Date : 2010-03-25 DOI: 10.1109/HAPTIC.2010.5444652

Tatsuya Ooka, K. Fujita

引用次数: 26

Haptic negotiation and role exchange for collaboration in virtual environments 虚拟环境中协作的触觉协商和角色交换

2010 IEEE Haptics Symposium Pub Date : 2010-03-01 DOI: 10.1109/HAPTIC.2010.5444628

S. Oguz, Ayse Küçükyilmaz, T. M. Sezgin, C. Basdogan

{"title":"Haptic negotiation and role exchange for collaboration in virtual environments","authors":"S. Oguz, Ayse Küçükyilmaz, T. M. Sezgin, C. Basdogan","doi":"10.1109/HAPTIC.2010.5444628","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444628","url":null,"abstract":"We investigate how collaborative guidance can be realized in multi-modal virtual environments for dynamic tasks involving motor control. Haptic guidance in our context can be defined as any form of force/tactile feedback that the computer generates to help a user execute a task in a faster, more accurate, and subjectively more pleasing fashion. In particular, we are interested in determining guidance mechanisms that best facilitate task performance and arouse a natural sense of collaboration. We suggest that a haptic guidance system can be further improved if it is supplemented with a role exchange mechanism, which allows the computer to adjust the forces it applies to the user in response to his/her actions. Recent work on collaboration and role exchange presented new perspectives on defining roles and interaction. However existing approaches mainly focus on relatively basic environments where the state of the system can be defined with a few parameters. We designed and implemented a complex and highly dynamic multimodal game for testing our interaction model. Since the state space of our application is complex, role exchange needs to be implemented carefully. We defined a novel negotiation process, which facilitates dynamic communication between the user and the computer, and realizes the exchange of roles using a three-state finite state machine. Our preliminary results indicate that even though the negotiation and role exchange mechanism we adopted does not improve performance in every evaluation criteria, it introduces a more personal and human-like interaction model.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128195853","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: 66

Comparison of three designs for haptic button edges on touchscreens 触摸屏触觉按钮边缘三种设计的比较

2010 IEEE Haptics Symposium Pub Date : 2010-03-01 DOI: 10.1109/HAPTIC.2010.5444653

Toni Pakkanen, R. Raisamo, Jukka Raisamo, Katri Salminen, Veikko Surakka

引用次数: 19

Surface waves and spatial localization in vibrotactile displays 振动触觉显示中的表面波和空间定位

2010 IEEE Haptics Symposium Pub Date : 2010-03-01 DOI: 10.1109/HAPTIC.2010.5444673

L. Jones, David Held, I. Hunter

{"title":"Surface waves and spatial localization in vibrotactile displays","authors":"L. Jones, David Held, I. Hunter","doi":"10.1109/HAPTIC.2010.5444673","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444673","url":null,"abstract":"The locus of vibrotactile stimulation is often used as an encoding cue in tactile displays developed for spatial orientation and navigation. However, the ability to localize the site of stimulation varies as a function of the number and configuration of the vibrating motors (tactors) in the display. As the inter-tactor distance decreases it has been found that the ability to localize a point of stimulation diminishes. One factor that may limit tactile localization is the surface wave elicited by vibration that propagates across the skin at a velocity that depends on the frequency of vibration and the viscoelastic properties of the skin. A material that simulates the stress-strain characteristics of human skin was used to measure the characteristics of surface waves during vibrotactile stimulation. Accelerometers glued to the simulated skin at fixed distances from the activated tactors were used to measure the amplitude of the acceleration as a function of distance as well as the propagation velocity. It was determined that at a distance of 60 mm from the site of activation, the surface wave was on average attenuated to less than 1 m/s2. This suggests that for this type of tactor an inter-tactor distance of at least 60 mm would be optimal for a display in which the locus of stimulation is used as an encoding variable. It seems that much of the difficulty encountered in identifying the locus of a vibrotactile stimulus in multi-tactor displays may result from small intertactor distances.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126242412","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: 11