Towards Wearability in Fingertip Haptics: A 3-DoF Wearable Device for Cutaneous Force Feedback
TL;DR: Design guidelines for wearable haptics are introduced and a novel 3-DoF wearable haptic interface able to apply force vectors directly to the fingertip is presented, able to exert up to 1.5 N.
Abstract: Wearability will significantly increase the use of haptics in everyday life, as has already happened for audio and video technologies. The literature on wearable haptics is mainly focused on vibrotactile stimulation, and only recently, wearable devices conveying richer stimuli, like force vectors, have been proposed. This paper introduces design guidelines for wearable haptics and presents a novel 3-DoF wearable haptic interface able to apply force vectors directly to the fingertip. It consists of two platforms: a static one, placed on the back of the finger, and a mobile one, responsible for applying forces at the finger pad. The structure of the device resembles that of parallel robots, where the fingertip is placed in between the static and the moving platforms. This work presents the design of the wearable display, along with the quasi-static modeling of the relationship between the applied forces and the platform's orientation and displacement. The device can exert up to 1.5 N, with a maximum platform inclination of 30 degree. To validate the device and verify its effectiveness, a curvature discrimination experiment was carried out: employing the wearable device together with a popular haptic interface improved the performance with respect of employing the haptic interface alone.
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TL;DR: This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges, and reports on the future perspectives of the field.
Abstract: In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand.
473 citations
Cites background or methods from "Towards Wearability in Fingertip Ha..."
...Cutaneous feedback provides indeed an effective and elegant way to simplify the design of wearable haptic interfaces: the high density of mechanoreceptors in the skin and their low activation thresholds [12], [13] allow researchers to develop effective cutaneous-only displays that are compact, comfortable, and inexpensive [5], [14], [15] (as the one in Fig....
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...(a) A Phantom Premium, (b) a CyberGrasp, and (c) a fingertip device [5]....
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...In grounded haptic interfaces this undesired reaction force is counterbalanced by the ground and not felt by the user, thus increasing the illusion of telepresence provided by these devices [5], [8] (see Fig....
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...[5] rigid triangular platform 3 DCmotors pressure, curvature 30 45 24 31...
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...This market stems from the need for wearability, which is a key element for a natural interaction with today’s technology [4], [5]....
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TL;DR: In this article, a survey extensively reviews current trends in robot tactile perception of object properties, including shape, surface material and object pose, and the role of touch sensing in combination with other sensing sources is discussed.
247 citations
16 Oct 2016
TL;DR: It is found that haptic feedback significantly increases the accuracy of VR interaction, most effectively by rendering high-fidelity shape output as in the case of mechanically-actuated hand-held controllers.
Abstract: We present an investigation of mechanically-actuated hand-held controllers that render the shape of virtual objects through physical shape displacement, enabling users to feel 3D surfaces, textures, and forces that match the visual rendering. We demonstrate two such controllers, NormalTouch and TextureTouch, which are tracked in 3D and produce spatially-registered haptic feedback to a user's finger. NormalTouch haptically renders object surfaces and provides force feedback using a tiltable and extrudable platform. TextureTouch renders the shape of virtual objects including detailed surface structure through a 4×4 matrix of actuated pins. By moving our controllers around while keeping their finger on the actuated platform, users obtain the impression of a much larger 3D shape by cognitively integrating output sensations over time. Our evaluation compares the effectiveness of our controllers with the two de-facto standards in Virtual Reality controllers: device vibration and visual feedback only. We find that haptic feedback significantly increases the accuracy of VR interaction, most effectively by rendering high-fidelity shape output as in the case of our controllers.
228 citations
Cites background from "Towards Wearability in Fingertip Ha..."
...[28] offer a wearable haptic device that uses a three-string actuated platform capable of rendering cutaneous forces at the fingertip....
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...In practice, however, the fingertip’s sensitivity to kinesthetic and cutaneous forces is much higher than the sensitivity of the rest of the hand [28], rendering the actuation experience convincing....
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TL;DR: The technology behind creating artificial touch sensations and the relevant aspects of human touch are reviewed and the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices is addressed.
Abstract: This article reviews the technology behind creating artificial touch sensations and the relevant aspects of human touch We focus on the design and control of haptic devices and discuss the best practices for generating distinct and effective touch sensations Artificial haptic sensations can present information to users, help them complete a task, augment or replace the other senses, and add immersiveness and realism to virtual interactions We examine these applications in the context of different haptic feedback modalities and the forms that haptic devices can take We discuss the prior work, limitations, and design considerations of each feedback modality and individual haptic technology We also address the need to consider the neuroscience and perception behind the human sense of touch in the design and control of haptic devices
214 citations
19 Apr 2018
TL;DR: Haptic Revolver is a handheld virtual reality controller that renders fingertip haptics when interacting with virtual surfaces through an actuated wheel that raises and lowers underneath the finger to render contact with a virtual surface.
Abstract: We present Haptic Revolver, a handheld virtual reality controller that renders fingertip haptics when interacting with virtual surfaces. Haptic Revolver's core haptic element is an actuated wheel that raises and lowers underneath the finger to render contact with a virtual surface. As the user's finger moves along the surface of an object, the controller spins the wheel to render shear forces and motion under the fingertip. The wheel is interchangeable and can contain physical textures, shapes, edges, or active elements to provide different sensations to the user. Because the controller is spatially tracked, these physical features can be spatially registered with the geometry of the virtual environment and rendered on-demand. We evaluated Haptic Revolver in two studies to understand how wheel speed and direction impact perceived realism. We also report qualitative feedback from users who explored three application scenarios with our controller.
180 citations
Cites background from "Towards Wearability in Fingertip Ha..."
...For more nuanced haptic rendering, researchers have developed fnger-mounted haptic devices [16, 21, 17, 6, 15, 29, 26, 20], glove-based exoskeletons [19, 9, 23, 4], and robotic arm solutions [1, 14, 13, 10, 12, 24] to render various haptic sensations....
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...In recent years, researchers have explored rendering contact [21], pressure [17], tilt [6], and shear forces [15, 20] with these devices....
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References
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TL;DR: Three of the most popular tasks used to study discriminability are discussed, together with the measures that SDT prescribes for quantifying performance in these tasks.
Abstract: Signal detection theory (SDT) may be applied to any area of psychology in which two different types of stimuli must be discriminated. We describe several of these areas and the advantages that can be realized through the application of SDT. Three of the most popular tasks used to study discriminability are then discussed, together with the measures that SDT prescribes for quantifying performance in these tasks. Mathematical formulae for the measures are presented, as are methods for calculating the measures with lookup tables, computer software specifically developed for SDT applications, and general purpose computer software (including spreadsheets and statistical analysis software).
2,438 citations
"Towards Wearability in Fingertip Ha..." refers methods in this paper
...False alarm and hit rate were first converted to z scores of the normal distribution [36], [35]....
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...converting them to z scores [24], [35]....
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...Similarly to the work in [24], the same-different procedure of theory of signal detection (TSD) was implemented to evaluate the just noticeable difference (JND) for curvature [35], [36]....
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TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.
Abstract: Position Analysis of Serial Manipulators Position Analysis of Parallel Manipulators Jacobian Analysis of Serial Manipulators Jacobian Analysis of Parallel Manipulators Statics and Stiffness Analysis Wrist Mechanisms Tendon-Driven Manipulators Dynamics of Serial Manipulators Dynamics of Parallel Manipulators Appendices Index
1,744 citations
Book•
01 Dec 2015
TL;DR: The theory of signal detection has been studied extensively in the literature, see as mentioned in this paper for an overview. But the application of TSD is limited to the measurement of sensory attributes and discrimination scales.
Abstract: Contents: Preface. Psychophysical Measurement of Thresholds: Differential Sensitivity. Psychophysical Measurement of Thresholds: Absolute Sensitivity. The Classical Psychophysical Methods. Classical Psychophysical Theory. The Theory of Signal Detection. Further Considerations of TSD. Procedures of TSD. Some Applications of TSD. The Measurement of Sensory Attributes and Discrimination Scales. Partition Scales. Psychophysical Ration Scaling. Evaluation of Ratio Scaling Methods. The Psychophysical Law. Some Fundamental Issues in Psychophysical Scaling.
1,088 citations
"Towards Wearability in Fingertip Ha..." refers methods in this paper
...False alarm and hit rate were first converted to z scores of the normal distribution [36], [35]....
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...Similarly to the work in [24], the same-different procedure of theory of signal detection (TSD) was implemented to evaluate the just noticeable difference (JND) for curvature [35], [36]....
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...According to the criterion commonly adopted [24], [36], the discrimination threshold can be defined as the difference between the curvatures for which d0 1⁄4 1....
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TL;DR: A description of the components and the modus operandi of haptic interfaces are described, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.
Abstract: Haptic interfaces enable person‐machine communication through touch, and most commonly, in response to user movements. We comment on a distinct property of haptic interfaces, that of providing for simultaneous information exchange between a user and a machine. We also comment on the fact that, like other kinds of displays, they can take advantage of both the strengths and the limitations of human perception. The paper then proceeds with a description of the components and the modus operandi of haptic interfaces, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.
577 citations
TL;DR: Experiments are described to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance, including active operator assistance through "virtual fixtures" and the automatic acquisition of tissue properties.
Abstract: Teleoperated minimally invasive surgical robots can significantly enhance a surgeon's accuracy, dexterity and visualization. However, current commercially available systems do not include significant haptic (force and tactile) feedback to the operator. This paper describes experiments to characterize this problem, as well as several methods to provide haptic feedback in order to improve surgeon's performance. There exist a variety of sensing and control methods that enable haptic feedback, although a number of practical considerations, e.g. cost, complexity and biocompatibility, present significant challenges. The ability of teleoperated robot‐assisted surgical systems to measure and display haptic information leads to a number of additional exciting clinical and scientific opportunities, such as active operator assistance through “virtual fixtures” and the automatic acquisition of tissue properties.
432 citations
"Towards Wearability in Fingertip Ha..." refers background in this paper
...Indeed, recent studies assert that cutaneous stimuli are fundamental in recognizing shapes [23], in curvature discrimination tasks [17], [24], [25] and to improve the illusion of presence in virtual and remote environments [1], [19], [26], [27], [20]....
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