{"title":"Haptic data reduction in multi-DoF teleoperation systems","authors":"Iason Vittorias, Hamza Ben Rached, S. Hirche","doi":"10.1109/HAVE.2010.5623991","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623991","url":null,"abstract":"In this paper a haptic data reduction method for multi-DoF teleoperation systems is presented. A general framework based on the deadband approach is given; it gives the flexibility, by knowledge of psychophysical properties, to form hyper-zones where information can be considered imperceivable by the human and thus does not need to be transmitted. A proper data reconstruction strategy is proposed for the receiver side to guarantee stability of global control loop despite the loss of information. Simulation and experiments on a real 7-DoF telerobotic system validate the approach and indicate high data reduction rates.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115998374","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 blind spot crash avoidance system: A haptic solution to blind spot collisions","authors":"David Racine, Nick Cramer, M. Zadeh","doi":"10.1109/HAVE.2010.5623977","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623977","url":null,"abstract":"Blind spots are a nuisance of everyday driving that cause a significant number of accidents every year. Current blind spot systems mainly take advantage of visual feedback for the driver. However, an active blind spot system physically involves the driver to help reduce the number of overall accidents. In this paper, a force-feedback gas pedal and a force-feedback steering wheel are used in conjunction with a driving simulator to improve upon existing blind spot detection and avoidance systems. Preliminary human testing results show that by adding an active blind spot crash avoidance system to the already visual blind spot light can help to reduce the number of collisions.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122980241","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":"Exploiting directional dependencies of force perception for lossy haptic data reduction","authors":"J. Kammerl, R. Chaudhari, E. Steinbach","doi":"10.1109/HAVE.2010.5623975","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623975","url":null,"abstract":"Packet-switched communication of haptic data in real-time telemanipulation systems is characterized by high packet rates on the communication channel. Perceptual data reduction techniques for haptic signals successfully address this challenge. By applying a mathematical model of human haptic perception, the transmission of imperceptible signal changes over the network can be avoided. When extending existing haptic data reduction schemes from a single degree of freedom (DoF) to multi-DoFs, the spatial orientation of force feedback vectors acts as an additional perceptual dimension. In this paper, we investigate directional dependencies of haptic data reduction artifacts. Experimental studies reveal that the performance of perceptual data reduction can be significantly improved by adapting the perception thresholds to the spatial direction of force feedback.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124185779","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}
Erika Tanhua-Piiroinen, Johannes Pystynen, R. Raisamo
{"title":"Haptic applications as physics teaching tools","authors":"Erika Tanhua-Piiroinen, Johannes Pystynen, R. Raisamo","doi":"10.1109/HAVE.2010.5623972","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623972","url":null,"abstract":"Touch is one of the most important senses in our everyday life when exploring and experiencing the physical world. It is, however, rare that haptic applications have been used to support learning at school. This paper describes a case study on utilizing haptic applications in the 8th grade physics learning. The study was carried out in a close collaboration with teachers in a real teaching environment by observing pupils' reactions and comments and by gathering the experiences of the teacher and the pupils. The Density application and the Leverage application that offer force feedback with the low-cost No-vint Falcon device were implemented to help in understanding the physical phenomena. The results were positive in regard to utilizing the sense of touch to enhance and to concretize often abstract physical phenomena.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114789250","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}
Jonathan Lam, B. Kapralos, K. Collins, A. Hogue, K. Kanev
{"title":"Amplitude panning-based sound system for a horizontal surface computer: A user-based study","authors":"Jonathan Lam, B. Kapralos, K. Collins, A. Hogue, K. Kanev","doi":"10.1109/HAVE.2010.5623999","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623999","url":null,"abstract":"Given the growing popularity of multi-touch mobility devices (e.g., iPods, smartphones), the move to multi-user touch screens and horizontal surfaces is a likely trajectory of the technology. Before smart tables become widely accepted, there are many questions particularly with respect to sound production and reception and multi model interaction for these devices that need to be explored (i.e., the interaction of sound and video cues). With respect to the sound interface, this introduces several design issues that must be addressed. More specifically, where do we position the loudspeakers and where should we position sounds in the mix, (in which speaker) for best reception? Here we describe a simple, and computationally efficient bilinear interpolation-based amplitude panning method designed specifically for horizontal surface computers with four loudspeakers. Preliminary user-based experiments were conducted to test the effectiveness of the method. Preliminary results indicate that virtual sound source positions very close to the user lead to the greatest localization error while the localization error for virtual sound source positions along the border of the surface was less.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127611446","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}
B. Spanlang, Jean-Marie Normand, Elias Giannopoulos, M. Slater
{"title":"GPU based detection and mapping of collisions for haptic rendering in Immersive Virtual Reality","authors":"B. Spanlang, Jean-Marie Normand, Elias Giannopoulos, M. Slater","doi":"10.1109/HAVE.2010.5623976","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623976","url":null,"abstract":"We present a method that maps collisions on a dynamic deformable virtual character designed to be used for tactile haptic rendering in Immersive Virtual Reality (IVR). Our method computes exact intersections by relying on the use of programmable graphics hardware. Based on interference tests between deformable meshes (an avatar controlled by a human participant) and a few hundred collider objects, our method gives coherent haptic feedback to the participant. We use GPU textures to map surface regions of the avatar to haptic actuators. We illustrate our approach by using a vest composed of vibrators for haptic rendering and we show that our method achieves collision detection at rates well over 1kHz on good quality deformable avatar meshes which makes our method suitable for video games and virtual training applications","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115915589","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":"A redistribution scheme centred on communication delay for distributed virtual simulations","authors":"R. D. De Grande, A. Boukerche","doi":"10.1109/HAVE.2010.5623959","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623959","url":null,"abstract":"Communication latencies directly influence the performance of distributed virtual simulations due to existent dependencies between simulation elements. The High Level Architecture (HLA) was designed to organize these simulations and reduce communication overhead. Even though the framework successfully manages data distribution, it is not concerned of communication distances and the network topology, which generate mostly of the delays in simulations. In order to provide a solution for organizing distribution simulations according to communication aspects, many approaches have been proposed. The approaches that provide a broader solution consider the proximity of resources in their redistribution algorithms. Even though these schemes considerably improves simulation performance, they are based on static characteristics of networking resources. Thus, a redistribution scheme is proposed to include communication delay as the main balancing metric and to detect the dynamic changes in systems' communication load. Experiments have been performed to compare the proposed scheme with the previous distributed scheme and to determine the effectiveness of using delay for balancing HLA-based simulations.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114612616","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":"An improved realistic mass-spring model for surgery simulation","authors":"Shaoping Xu, Xiaoping Liu, Hua Zhang, Linyan Hu","doi":"10.1109/HAVE.2010.5623989","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623989","url":null,"abstract":"An improved realistic mass-spring model, which is mainly based on the 3D finite strain nonlinear anisotropic elasticity theory, is presented for virtual reality based surgery simulation. Compared with the conversional mass-spring model, the proposed model is able to describe typical behaviors of living tissues such as incompressibility, nonlinearity and anisotropy. The nonlinear viscoelasticity is also incorporated into the soft tissue model by employing a numerical scheme. In terms of implementation, the model proposed can be seen as a mixture of finite-element and mass-spring models, which enables it to still maintain the advantage of mass-spring model, such as simple architectures, low memory usage and fast computation. An example to use this model to simulate human kidney is given to demonstrate its capability of describing the typical behaviors of soft tissue.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"58 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116834339","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":"Exploring the interplay of visual and haptic modalities in a pattern-matching task","authors":"Katie Seaborn, B. Riecke, A. Antle","doi":"10.1109/HAVE.2010.5623997","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623997","url":null,"abstract":"It is not well understood how working memory deals with coupled haptic and visual presentation modes. Present theoretical understandings of human cognition indicate that these modes are processed by the visuospatial sketchpad. If this is accurate, then there may be no efficiency in distributing information between the haptic and visual modalities in situations of visual overload [1]. However, this needs to be empirically explored. In this paper, we describe an evaluation of human performance in a pattern-matching task involving a fingertip interface that can present both haptic and visual information. Our purpose was to explore the interplay of visual and haptic processing in working memory, in particular how presentation mode affects performance. We designed a comparative study involving a pattern-matching task. Users were presented with a sequence of two patterns through different modalities using a fingertip interface and were asked to differentiate between them. While no significant difference was found between the visual and visual+haptic presentation modes, the results indicate a strong partiality for the coupling of visual and haptic modalities. This suggests that working memory is not hampered by using both visual and haptic channels, and that recall may be strengthened by dual-coding both visual and haptic modes.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129937531","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}
Jorge Rodríguez, T. Gutiérrez, Sara Casado, Emilio J. Sánchez
{"title":"Training strategies for learning a 3D trajectory with accuracy","authors":"Jorge Rodríguez, T. Gutiérrez, Sara Casado, Emilio J. Sánchez","doi":"10.1109/HAVE.2010.5623979","DOIUrl":"https://doi.org/10.1109/HAVE.2010.5623979","url":null,"abstract":"The goal of this study was to evaluate different learning conditions for motor skill transfer. The study was divided into two experiments with the same task: learning a 3D trajectory with accuracy. The first experiment was focused on evaluating the efficiency of three feedback schemes for the target trajectory: visual, haptic and visual-haptic feedback. The second experiment was focused on analyzing the influence of decreasing the feedback during the training process. The results suggest that the best learning condition for learning a 3D trajectory with accuracy is to provide visual-haptic feedback, which facilitates the understanding of the dimension and orientation of each trajectory segment and solves any visual discrepancies that may exist. Furthermore, although continuous feedback can create dependences in users and impede the transfer of motor skills, feedback based on user request can also be dangerous since users can create a wrong mental representation that keep them from replicating the trajectory accurately. Therefore, when the performance of a task depends on references created during the training process, it seems appropriate for the system to provide automatic feedback based on user performance.","PeriodicalId":361251,"journal":{"name":"2010 IEEE International Symposium on Haptic Audio Visual Environments and Games","volume":"31 Sup4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129073236","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}