Showing papers on "Haptic technology published in 1990"

Artificial reality with force-feedback: development of desktop virtual space with compact master manipulator

Abstract: A new configuration of Human Interface for "artificial reality" is discussed. This paper describes a method of implementing force-feedback in a virtual space manipulation system. The system is composed of two subsystems, a real-time graphic display system and a tactile input device with reaction force generator. A specialized graphics computer (Stardent TITAN) provides a realtime image of the virtual space. A 9 degree-of-freedom manipulator has been developed as a tactile input device. The manipulator applies reaction forces to the fingers and palm of the operator. The generated forces are calculated from a solid model of the virtual space. The performance of the system is exemplified in manipulation of virtual solid objects such as a mockup for industrial design and a 3D animated character.

Artificial reality with force-feedback: development of desktop virtual space with compact master manipulator

Abstract: A new configuration of Human Interface for "artificial reality" is discussed This paper describes a method of implementing force-feedback in a virtual space manipulation system The system is comp

Robot active touch exploration: constraints and strategies

Abstract: The problem of using active touch (haptic) exploration to recognize a 3-D object taken from a known set of models is examined. Two approaches are combined: (1) the use of geometric constraints between components to eliminate interpretations and of interpretation-tree methods for choosing the best active sensing move; and (2) exploratory moves made by tracing continually along the surface of the object (and not through free space). The study is restricted to polyhedra, and a set of geometric constraints tailored for matching components acquired from haptic exploration against components in the models is given. A new constraint using pairs of line segments is presented. A set of active sensing moves, each with an associated cost measure, and strategies for choosing the next move are given. >

Mapping haptic exploratory procedures to multiple shape representations

Abstract: Research in human haptics has revealed a number of exploratory procedures (EPs) that are used in determining attributes on an object, particularly shape. This research has been used as a paradigm for building an intelligent robotic system that can perform shape recognition from touch sensing. In particular, a number of mappings between EPs and shape modeling primitives have been found. The choice of shape primitive for each EP is discussed, and results from experiments with a Utah-MIT dextrous hand system are presented. A vision algorithm to complement active touch sensing for the task of autonomous shape recovery is also presented. >

Effects of Objects Properties, Attentional Constraints and Manual Exploratory Procedures on Haptic Perceptual Organization: A Developmental Study

Abstract: The research presented in this paper concerns manual haptic pattern perception.Its aim is to analyze to what extent the links relating perception and motor activity in this modality affect the haptic perceptual organization through changes in the manual exploratory strategies. The effects of particular situational and developmental factors on these strategies will be studied in experiments testing school children and adults.

Flexible Exploration By Human And Robotic Haptic System

Abstract: Humans ale remarkably skilled at recognizing common objects using only manual exploration. Our research program on human haptics (purposive touch) has revealed constraints on the sequence of manual exploration used to derive haptic information about object properties for various perceptual tasks. These experimental data are currently being used to model human haptic object recognition. The research program has also interested those who design flexible haptic perceptual systems for robotic exploration, recognition and manipulation of objects within highly unstructured environments.

Reaching and Hand Adjusting to the Target Properties

Abstract: This paper deals with the mechanisms responsible for hand adjusting as they develop in the infant’s prehensive action. The questions are: Does seeing an object involve anticipating its haptic properties and is anticipating haptic properties sufficient for ajusting the hand to these object properties? The findings of several studies show that hand ajustment does not mature parallel with the accurate movement of the arm in the direction of the target; practice with handling objects is the most condusive to developing the skill of finger grip formation.

Human Haptic Illusions In Virtual Object Manipulation

Abstract: Two experiments quantifying distortions of haptic spatial perception in humans are reported. Human subjects interacted with programmable "virtual objects" simulated mechanically using a planar robot under impedance control. The psychophysical functions for haptic perception of lengths and angles were determined. Comparison of these two measure shows that, unlike the typical geometrical model used in robot control, no consistent metric underlies human haptic spatial perception.

3-D interactive physically based micro world

Abstract: This paper describes an approach to synthetic three-dimensional object manipulation using three different haptic I/O devices in a virtual workspace on a graphics superworkstation. The devices involve the operator in unique mode8 of interaction that require positioning a six degree-of-freedom sensor, applying torques to a static ball, or creating interpreted hand ge8tures. With these devices, the user can select, rotate and deposit synthetic virtual objects in the micro world. The micro world is an "artificial reality" in which elementary physical forces of gravity, volume preservation, collision, and external user input may be applied. The techniques developed overcome some of the difficulties experienced with two-dimensional input devices in a three-dimensional space. Furthermore, the ability of the user to continuous modify physical constraints while observing the results in real-time facilitates data interpretation tasks.© (1990) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Configuration Differing Bilateral Master/Slave Hand with Slip Sensation

Abstract: Many studies concerning remote manipulator systems have been published recently. Most of these studies are concerned about using end effectors with limited degrees of freedom.In order to carry out complicated tasks, it is necessary to develop a bilateral master/slave hand system. We developed a configuration differing bilateral master/slave hand.A control experiment using force feedback is carried out, and the bilateral servo system for master/slave control is investigated. The necessity of slip sensation feedback in a master/slave hand system is pointed out, and a slip sensation feedback method is suggested and validated through experiments.

[Understanding or feeling? Motor and sensory processes in recall of haptic experiences].

Abstract: Effects of learning can show in a direct, i.e., explicit way, or they can be expressed indirectly, i.e., in an implicit way. It is investigated whether hepatic information shows implicit effect, and whether implicit haptic memory effects are based primarily on motor or on sensory memory components. In the first phase blindfolded subjects had to palpate objects in order to answer questions about the objects' distinct properties as fast as possible. In the following phase this task was repeated with the same objects and additional control items. Additionally, recognition judgements were required. Results demonstrate reliable effects of implicit memory for haptic information in terms of reaction times to old vs. new objects. Subjects who had to wear plastic gloves in the first stage showed comparable effects of repetition priming. Changing the questions--and, thus, hand movements--during the palpitation of objects known from the first stage, however, abolishes implicit memory expression. It is concluded, therefore, that implicit memory for haptic information is based on motor processes. On the other hand, explicit memory is hampered in subjects wearing gloves during the first phase, as revealed in terms of recognition performance while changing the questions about objects' properties has no effect on recognition judgements. Thus, explicit memory for haptic information seems to be based on the sensory processes when touching objects.

Active sensing with a dextrous robotic hand

Abstract: What separates sensing with a hand from other more passive sensing modalities such as vision is its active nature. This paper describes our efforts in building a useful active hand sensing environment that can be used for a number of different tasks including intelligent grasping, manipulation, and haptic object recognition. We outline the system we have built to control the hand/arm system, discuss the tactile sensors we have mounted on the hand’s fingers, and elaborate on some exploratory procedures (EP’s) we have implemented to allow the hand to do active tactile sensing for object recognition tasks.

Adaptive control of direct drive dexterous robotic hand with bilateral tactile sensing

Abstract: : The work addresses the problem of identifying objects using remote teleoperator. The application of the research is part of the development of demonstration technologies for the next generation of ROV's currently under development by the US Navy. Two related research issues are developed. The first deals with determining how a teleoperator would remotely probe an unidentified object, and attempt to determine what the object is based only of force feedback through the teleoperator mechanism. Haptic models are tested against experimental data. The second issue addressed is the design of a dexterous, direct drive and effector for use on a teleoperator system. Results concerning the mechanic design of a small scale mechanical hand are discussed.

Cooperative Integration Of Vision And Touch

Abstract: Vision and touch have proved to be powerful sensing modalities in humans. In order to build robots capable of complex behavior, analogues of human vision and taction need to be created. In addition, strategies for intelligent use of these sensors in tasks such as object recognition need to be developed. Two overriding principles that dictate a good strategy for cooperative use of these sensors are the following: 1) sensors should complement each other in the kind and quality of data they report, and 2) each sensor system be used in the most robust manner possible. We demonstrate this with a contour following algorithm that recovers the shape of surfaces of revolution from sparse tactile sensor data. The absolute location in depth of an object can be found more accurately through touch than vision; but the global properties of where to actively explore with the hand are better found through vision.