IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium最新文献

Robotically Embodied Biological Neural Networks to Investigate Haptic Restoration with Neuroprosthetic Hands. 机器人化生物神经网络研究神经假手的触觉恢复。

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2022-03-01 Epub Date: 2022-05-05 DOI: 10.1109/haptics52432.2022.9765605

Craig Ades, Moaed A Abd, E Du, Jianning Wei, Emmanuelle Tognoli, Erik D Engeberg

{"title":"Robotically Embodied Biological Neural Networks to Investigate Haptic Restoration with Neuroprosthetic Hands.","authors":"Craig Ades, Moaed A Abd, E Du, Jianning Wei, Emmanuelle Tognoli, Erik D Engeberg","doi":"10.1109/haptics52432.2022.9765605","DOIUrl":"10.1109/haptics52432.2022.9765605","url":null,"abstract":"Neuroprosthetic limbs reconnect severed neural pathways for control of (and increasingly sensation from) an artificial limb. However, the plastic interaction between robotic and biological components is poorly understood. To gain such insight, we developed a novel noninvasive neuroprosthetic research platform that enables bidirectional electrical communications (action, sensory perception) between a dexterous artificial hand and neuronal cultures living in a multichannel microelectrode array (MEA) chamber. Artificial tactile sensations from robotic fingertips were encoded to mimic slowly adapting (SA) or rapidly adapting (RA) mechanoreceptors. Afferent spike trains were used to stimulate neurons in a region of the neuronal culture. Electrical activity from neurons at another region in the MEA chamber was used as the motor control signal for the artificial hand. Results from artificial neural networks (ANNs) showed that the haptic model used to encode RA or SA fingertip sensations affected biological neural network (BNN) activity patterns, which in turn impacted the behavior of the artificial hand. That is, the exhibited finger tapping behavior of this closed-loop neurorobotic system showed statistical significance (p<0.01) between the haptic encoding methods across two different neuronal cultures and over multiple days. These findings suggest that our noninvasive neuroprosthetic research platform can be used to devise high-throughput experiments exploring how neural plasticity is affected by the mutual interactions between perception and action.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"2022 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10566548/pdf/nihms-1934026.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41223247","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Identifying 3-D spatiotemporal skin deformation cues evoked in interacting with compliant elastic surfaces. 识别与顺应弹性表面相互作用时诱发的三维时空皮肤变形线索。

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2020-03-01 Epub Date: 2020-05-07 DOI: 10.1109/haptics45997.2020.ras.hap20.22.5a9b38d8

Bingxu Li, Steven Hauser, Gregory J Gerling

{"title":"Identifying 3-D spatiotemporal skin deformation cues evoked in interacting with compliant elastic surfaces.","authors":"Bingxu Li, Steven Hauser, Gregory J Gerling","doi":"10.1109/haptics45997.2020.ras.hap20.22.5a9b38d8","DOIUrl":"10.1109/haptics45997.2020.ras.hap20.22.5a9b38d8","url":null,"abstract":"We regularly touch soft, compliant fruits and tissues. To help us discriminate them, we rely upon cues embedded in spatial and temporal deformation of finger pad skin. However, we do not yet understand, in touching objects of various compliance, how such patterns evolve over time, and drive perception. Using a 3-D stereo imaging technique in passive touch, we develop metrics for quantifying skin deformation, across compliance, displacement, and time. The metrics map 2-D estimates of terminal contact area to 3-D metrics that represent spatial and temporal changes in penetration depth, surface curvature, and force. To do this, clouds of thousands of 3-D points are reduced in dimensionality into stacks of ellipses, to be more readily comparable between participants and trials. To evaluate the robustness of the derived 3-D metrics, human subjects experiments are performed with stimulus pairs varying in compliance and discriminability. The results indicate that metrics such as penetration depth and surface curvature can distinguish compliances earlier, at less displacement. Observed also are distinct modes of skin deformation, for contact with stiffer objects, versus softer objects that approach the skin's compliance. These observations of the skin's deformation may guide the design and control of haptic actuation.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"2020 ","pages":"35-40"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8395532/pdf/nihms-1734370.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39365006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Time-dependent Cues Encode the Minimum Exploration Time in Discriminating Naturalistic Compliances. 与时间相关的线索在辨别自然顺应性的过程中包含了最短的探索时间。

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2020-03-01 Epub Date: 2020-05-07 DOI: 10.1109/haptics45997.2020.ras.hap20.7.ec43f6a7

Chang Xu, Gregory J Gerling

{"title":"Time-dependent Cues Encode the Minimum Exploration Time in Discriminating Naturalistic Compliances.","authors":"Chang Xu, Gregory J Gerling","doi":"10.1109/haptics45997.2020.ras.hap20.7.ec43f6a7","DOIUrl":"10.1109/haptics45997.2020.ras.hap20.7.ec43f6a7","url":null,"abstract":"Our perception of compliance is informed by multi-dimensional tactile cues. Compared with stationary cues at terminal contact, time-dependent cues may afford optimal efficiency, speed, and fidelity. In this work, we investigate strategies by which temporal cues may encode compliances by modulating our exploration time. Two potential perceptual strategies are considered, inspired by memory representations within and between explorations. For either strategy, we introduce a unique computational approach. First, a curve similarity analysis, of accumulating touch force between sequentially explored compliances, generates a minimum time for discrimination. Second, a Kalman filtering approach derives a recognition time from progressive integration of stiffness estimates over time within a single exploration. Human-subjects experiments are conducted for both single finger touch and pinch grasp. The results indicate that for either strategy, by employing a more natural pinch grasp, time-dependent cues afford greater efficiency by reducing the exploration time, especially for harder objects. Moreover, compared to single finger touch, pinch grasp improves discrimination rates in judging plum ripeness. The time-dependent strategies as defined here appear promising, and may tie with the time-scales over which we make perceptual judgments.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"2020 ","pages":"22-27"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8386199/pdf/nihms-1734371.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39371803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials. 手指垫与柔性材料相互作用时的三维变形成像。

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2018-03-01 Epub Date: 2018-05-10 DOI: 10.1109/HAPTICS.2018.8357145

Steven C Hauser, Gregory J Gerling

{"title":"Imaging the 3-D Deformation of the Finger Pad When Interacting with Compliant Materials.","authors":"Steven C Hauser, Gregory J Gerling","doi":"10.1109/HAPTICS.2018.8357145","DOIUrl":"https://doi.org/10.1109/HAPTICS.2018.8357145","url":null,"abstract":"We need to understand the physics of how the skin of the finger pad deforms, and their tie to perception, to accurately reproduce a sense of compliance, or 'softness,' in tactile displays. Contact interactions with compliant materials are distinct from those with rigid surfaces where the skin flattens completely. To capture unique patterns in skin deformation over a range of compliances, we developed a stereo imaging technique to visualize the skin through optically clear stimuli. Accompanying algorithms serve to locate and track points marked with ink on the skin, correct for light refraction through stimuli, and estimate aspects of contact between skin and stimulus surfaces. The method achieves a 3-D spatial resolution of 60-120 microns and temporal resolution of 30 frames per second. With human subjects, we measured the skin's deformation over a range of compliances (61-266 kPa), displacements (0-4 mm), and velocities (1- 15 mm/s). The results indicate that the method can differentiate patterns of skin deformation between compliances, as defined by metrics including surface penetration depth, retention of geometric shape, and force per gross contact area. Observations of biomechanical cues of this sort are key to understanding the perceptual encoding of compliance.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"2018 ","pages":"7-13"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/HAPTICS.2018.8357145","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37234160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Plenary talks: Touching 全体会议:感人

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2016-04-08 DOI: 10.1109/HAPTICS.2016.7463141

J. Salisbury

{"title":"Plenary talks: Touching","authors":"J. Salisbury","doi":"10.1109/HAPTICS.2016.7463141","DOIUrl":"https://doi.org/10.1109/HAPTICS.2016.7463141","url":null,"abstract":"The common area of interest to attendees at this conference is physical interaction. Haptic and robotic technologies are beginning to merge into one discipline. Touching is the central theme that draws these disciplines together. Whether we are designing a surgical simulation to feel realistic or building a robot to cooperatively carry a load, we must make explicit choices about their mechanical behaviors. In part, this presentation will share our experiences and lessons learned in creating number of haptic and force controllable robotic systems. We will discuss measures of performance and mechanical means for maximizing them. As haptically capable robots engage in more complex and sophisticated physical interactions with humans (HRI) we must consider how the robot's mechanical characteristics affect cooperative task performance as well as the affective effects when humans touch or are touched by a robot. I find fascinating the dual meanings of touch and feel; both have physical and emotional interpretations and are inextricably linked in our language. The study of the emotional aspects of physical interactions between humans and robots is an area that warrants study. I will briefly discuss our own study of encoding and communicating emotional states through handshaking with a robot. My taxonomy of physical interaction between a human and a robot has three levels of abstraction: 1) touching and being touched, 2) taking and giving and 3) leading and being led. At each level bi-directional energy exchanges occur. Behaviors during these interactions impact task outcomes as well as have emotional impact on the humans they touch. Robot characteristics such as impedance, frequency content, fidelity, and more have impact on quality of human/robot physical cooperation and the ensuing affective interpretations. In closing I will discuss our work on wearable robotics. Rather than addressing strength and rehabilitation, our study addresses interactivity, communication, emotional and cognitive issues that arise when a robot becomes part of our self.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"31 1","pages":"xi"},"PeriodicalIF":0.0,"publicationDate":"2016-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81083049","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: 0

Haptic perception along the road from basic science to application 触觉感知沿着从基础科学到应用的道路

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2016-04-08 DOI: 10.1109/HAPTICS.2016.7463142

R. Klatzky

引用次数: 0

Measuring tactile cues at the fingerpad for object compliances harder and softer than the skin. 测量指垫上的触觉线索，判断物体是否比皮肤更硬更软。

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2016-04-01 DOI: 10.1109/HAPTICS.2016.7463185

Steven C Hauser, Gregory J Gerling

{"title":"Measuring tactile cues at the fingerpad for object compliances harder and softer than the skin.","authors":"Steven C Hauser, Gregory J Gerling","doi":"10.1109/HAPTICS.2016.7463185","DOIUrl":"https://doi.org/10.1109/HAPTICS.2016.7463185","url":null,"abstract":"Distinguishing an object's compliance, into percepts of \"softness\" and \"hardness,\" is crucial to our ability to grasp and manipulate it. Biomechanical cues at the skin's surface such as contact area and force rate have been thought to help encode compliance. However, no one has directly measured contact area with compliant materials, and few studies have considered compliances softer than the fingerpad. Herein, we developed a novel method to precisely measure the area in contact between compliant stimuli and the fingerpad, at given levels of force and displacement. To determine the method's robustness, we conducted psychophysical and biomechanical experiments with human subjects. The results indicate that cues including contact area at stimulus peak force of 3 Newtons, force rate over stimulus movement and at peak force, displacement and/or time to reach peak force may help in discriminating compliances while the directional spread of contact area is less important. Between softer and harder compliances, some cues were slightly more evident, though not yet definitively. Based upon the method's utility, the next step is to conduct broader experiments to distill the mixture of cues that encode compliance. The importance of such work lies in building haptic displays, for example, to render virtual tissues.","PeriodicalId":90847,"journal":{"name":"IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium","volume":"2016 ","pages":"247-252"},"PeriodicalIF":0.0,"publicationDate":"2016-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/HAPTICS.2016.7463185","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"34502591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

mHIVE: A WYFIWIF design tool 一个wyfiwifi设计工具

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2014-03-20 DOI: 10.1109/HAPTICS.2014.6775541

Oliver S. Schneider, Karon E Maclean

引用次数: 0

Encountered-type haptic interface using Magneto-Rheological fluid for surgical simulators 基于磁流变液的手术模拟器触感界面

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2014-03-20 DOI: 10.1109/HAPTICS.2014.6775533

T. Tsujita, Takuya Kameyama, A. Konno, Xin Jiang, S. Abiko, M. Uchiyama

引用次数: 0

Kinesthetic Physical Interaction with a Multi-handed Tactile Display 动觉物理交互与多手触觉显示

IEEE Haptics Symposium : [proceedings]. IEEE Haptics Symposium Pub Date : 2014-03-20 DOI: 10.1109/HAPTICS.2014.6775532

Ashley L. Guinan, Markus N. Montandon, Andrew J. Doxon, W. Provancher

引用次数: 1