Showing papers on "Haptic technology published in 1991"

The Psychology of Touch

Abstract: Contents: M.A. Heller, Introduction. Part I:Sensory Phenomena. R. Cholewiak, A. Collins, Sensory and Physiological Bases of Touch. J.C. Stevens, Thermal Sensibility. G.B. Rollman, Pain Responsiveness. Part II:Development and Intermodal Relations. D.H. Warren, M.J. Rossano, Intermodality Relations: Vision and Touch. E.W. Bushnell, J.P. Boudreau, The Development of Haptic Perception During Infancy. Part III:Tactile Pattern Perception. S. Appelle, Haptic Perception of Form: Activity and Stimulus Attributes. C. Sherrick, Vibrotactile Pattern Perception: Some Findings and Applications. E. Foulke, Braille. Part IV:Tactile Perception in the Visually Impaired. M.A. Heller, Haptic Perception in Blind People. J.M. Kennedy, P. Gabias, A. Nicholls, Tactile Pictures. S. Millar, A Reverse Lag in the Recognition and Production of Tactual Drawings: Theoretical Implications for Haptic Coding. M.A. Heller, W. Schiff, Conclusions: The Future of Touch.

Environment modeling for the interactive display (EMID) used in telerobotic systems

Abstract: Discusses a method of calculating the interaction forces produced between objects which will contact in model space. Recently, needs of robotic simulators are increasing to provide efficient off-line teaching tools, effective human-robot interfaces for telerobotic systems and so on. In almost simulators, currently operators can see good images of the environments to be manipulated by introducing computer graphics techniques. However, such simulators only can display the environments unilaterally without feeling any constraint force which will occur during teaching tasks. In some applications of the simulators, the lack of force feedback causes low efficiency of the system. In order to overcome this problem, a method which can generate constraint forces in a model world is proposed, which will be called the EMID (environment modeling for the interactive display) system. After the method is formulated, using the EMID method will be confirmed. >

A robotic haptic system architecture

Abstract: The question of what are the necessary elements to integrate a robotics system that would enable it to carry out a task, ie pick-up and transport objects in an unknown environment, is addressed One of the major concerns is to insure adequate data throughput and fast communication between modules within the system, so that haptic tasks can be adequately carried out The communication issues involved in the development of such a system are discussed >

Efficient control of a robotic system for time-delayed environments

Abstract: Addresses the problem of teleoperation in the presence of feedback delays. Delay occurs with Earth-based teleoperation in space and with surface-based teleoperation of untethered submersibles when acoustic communication links are involved. The delay in obtaining position and force feedback from remote slave arms makes direct teleoperation impossible. This paper proposes a new control methodology for time-delayed remote manipulation, teleprogramming, based on a novel combination of computer graphics, virtual reality, and manipulator programming. The teleprogramming methodology allows for continuous and efficient control of remote workcells in the presence of significant feedback delays. An overview of the methodology for a single workcell is presented and experimental results using a prototype laboratory system are reported. >

Artificial tactile sensing and haptic perception

Abstract: A critical evaluation of the state of the art in tactile sensing is presented. Various fields of application such as prosthetic and teleoperation are covered, but particular attention is paid to advanced robotics. Tactile sensing modalities are discussed in some detail through reference to basic issues of contact mechanics to provide clues for the conception and design of artificial haptic systems capable of surface texture discrimination, stable object grasping, fine-form detection, hardness evaluation and thermal sensing.

A haptic system for a multifingered hand

Abstract: A series of haptic exploratory procedures (EPs) implemented for a multifingered, articulated, sensory robot hand is discussed. These EPs are designed to extract specific tactile and kinesthetic information from an object via their purposive invocation by an intelligent robotic system. Taken together, they form an active robotic touch perception system. This system utilizes a PUMA 560 robot arm, a JPL/Stanford robot hand with joint torque sensing in the fingers, a wrist force/torque sensor, and a 256-element spatially resolved fingertip tactile array. The EPs are described, and experimental results are given. >

Development of non-constrained master arm with tactile feedback device

Abstract: An electric master-slave manipulator was generally used for remote control systems. Generally, the master arm has the same mechanism as the slave arm. Thus, the operator is constrained by the master arm. From such a point of view, a nonconstrained master arm with tactile feedback actuator was developed. The operator can move without constraint and feel the force or touch between slave and objects. If a tactile feedback actuator on a master arm is made from mechanical actuator, it will constrain the operator. Thus, a pneumatic balloon actuator was developed to return the touch between the slave arm and objects to the master arm. The system was experimentally produced and its performance tested and evaluated. It was found to be applicable to a nonconstrained master arm with tactile feedback actuator. >

Design considerations for glove-like advanced interfaces

Abstract: Addresses general aspects associated with the design of glove-like advanced interfaces used for both teleoperation of dexterous robot hands and virtual environments. The function of glove components such as kinesthetic sensors and hand force feedback systems are analyzed. Discrimination between tactile and hand force feedback is outlined. >

Q’Hand: A fully automated apparatus for studying haptic processing of spatially distributed inputs

Abstract: Q’Hand is an electromechanical system that permits fully automated preparation and presentation of spatially distributed stimulus displays, as well as on-line data acquisition, all under software control. Selected inputs may be presented to any one or combination of the middle three fingertips of both hands. Both accuracy and reaction times are collected on line. Q’Hand was specifically designed to investigate tactile/haptic preattentive and attentive processing of single and multidimensional stimuli. However, it may also be used to study a variety of other research topics, such as pattern recognition, psychophysical issues, and lateralization of somatosensory function. Further, it may be adapted relatively easily for use in clinical settings. For example, with this apparatus, automated psychophysical tests may be designed for the evaluation of the extent of sensory impairment due to peripheral nerve damage otheihander to cortical dysfunction.

Design and testing of a nonreactive, fingertip, tactile display for interaction with remote environments

Abstract: During interaction with remote environments, the operator may benefit from the addition of force feedback to the ubiquitous visual feedback. However, the apparatus required for reactive force feedback (feedback which imposes the remote environment's motion-constraints on the user by applying joint torques) is cumbersome and expensive, especially when implemented in conjunction with high degree-offreedom precision joint motion sensing. Non-reactive, tactile feedback can provide similar information, and can be implemented at much lower cost. The purposes of this research were (1)todesign and demonstrate an inexpensive tactile feedback system, and (2) to determine the extent to which such a system could aid in the performance of a simple teleoperation task. After some experimentation with some different display technologies, and preliminary design, a vibrotactile display was chosen because of its low weight, size, and low cost. The final design consisted of two voice-coils, one each for the thumb and the index finger, which were driven by a 250 Hz variableamplitude signal produced by an analog electronics unit which was controlled by a PC. Experimental results are provided to show that the addition of the tactile display provides a small but significant improvement in manual tracking performance over the use of the visual display alone, and that the tracking task may be performed with only the tactile display. In further experiments the tactile display is compared with reactive force-feedback and is shown to confer most of the reactive display's performance improvement over tracking with only a visual display.

Visual and haptic spatial coding in young children

Abstract: Three experiments compared the evolution of visual and haptic spatial modes of responding in localization tasks. It was predicted that object-referred coding would be delayed in the haptic modality because the number and the salience of available external cues are reduced in haptics. Children aged 3-7 years were tested in a 180 o observer's rotation task (Expt 1) and in two display rotation taks (Expts 2 and 3) in which ambiguous instructions could orient the child either towards an object-referred coding (in which the target was localized by reference to the geometric properties of the display supporting it) or towards an object-independent coding (in which the target was localized as if no spatial displacements occurred)

Haptic information processing in direct and indirect memory tests.

Abstract: Effects of learning can show up in a direct, i. e., an explicit, way or they can be expressed indirectly, i. e., in an implicit way. It was investigated whether motor processes underlie effects of repetition priming in haptic information exploration. In the test phase, blindfolded subjects had to handle objects in order to answer questions as fast as possible about their properties (e.g., temperature, texture, weight, or form), exploring the object with their hands. Some of the objects were old ones (presented in a study phase); others were added as new objects to the test phase. In addition, recognition judgements were required. The results demonstrated reliable effects of repetition priming in terms of reaction times to old, in comparison with new, objects for subjects who had been treated the same way in the study phase (active touch). Passive touch at encoding or studying the names or the visible objects themselves did not lead to effects of repetition priming in the test phase. On the other hand, performing adequate hand movements during the study improved recognition memory. The role of motor processes in indirect and direct tests of memory is discussed and related to research on memory of action events.

Contact Operations Using an Instrumented Compliant Wrist

Abstract: Teleprogramming was developed as a solution to problems of teleoperation systems with significant time delays [5]. In teleprogramming, the human operator interacts in real time with a graphical model of the remote site, which provides for real time visual and force feedback. The master system automatically generates symbolic commands based on the motions of the master arm and the manipulator/model interactions, given predefined criteria of what types of motions are to be expected. These commands are then sent via a communication link, which may delay the signals, to the remote site. Based upon a remote world model, predefined and possibly refined as more information is obtained, the slave carries out commanded operations in the remote world and decides whether each step has been executed correctly.

Development and control issues in contact and proximity sensing for a robotic system

Abstract: Flexible robotic systems, for example systems to be used in parts assembly automation, require robot manipulators featuring among other capabilities, the capacity of executing reliable fine motions. This requirement leads to the need of using sensors and so to the need of searching for techniques for efficient processing and integration of sensory data. The paper addresses issues regarding the integration of sensors for flexible robotics, namely, force/torque, tactile and proximity range sensors. The authors are concerned with sensory integration for fine motion control, the following subjects being addressed: the architecture of the control system integrating force/torque, tactile and distance sensors and algorithms for position and force control using task-space sensory feedback. >

Modeling of Explorative Procedures for Remote Object Identification

Abstract: : This work addresses the issue of how humans manually explore remote objects using a telemanipulator. An understanding of how conceptual models are constructed is necessary since it will ultimately determine the efficiency of ROV's using telepresence. The representation of human search models is achieved by using the proprioceptive component of the haptic sensory system and the simulated foveal components of the visual system. Eventually it will allow multiple applications in remote sensing and superposition of sensory channels. The use of a force reflecting telemanipulator and computer simulated visual foveal component are the tools which offer the possibility of reconstructing these search patterns observed in different subjects under controlled laboratory conditions. The correlation between the two search strategies is explored and represented in code circles and strings which demonstrates the sequential nature of the two types of probing, as opposed of saccadic response in full vision. (Author)

Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes

Abstract: Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.

XeCl laser with LC-circuit excitation research

Abstract: During interaction with remote environments, the operator may benefit from the addition of force feedback to the ubiquitous visual feedback. However, the apparatus required for reactive force feedback (feedback which imposes the remote environment's motion-constraints on the user by applying joint torques) is cumbersome and expensive, especially when implemented in conjunction with high degree-offreedom precision joint motion sensing. Non-reactive, tactile feedback can provide similar information, and can be implemented at much lower cost. The purposes of this research were (1)todesign and demonstrate an inexpensive tactile feedback system, and (2) to determine the extent to which such a system could aid in the performance of a simple teleoperation task. After some experimentation with some different display technologies, and preliminary design, a vibrotactile display was chosen because of its low weight, size, and low cost. The final design consisted of two voice-coils, one each for the thumb and the index finger, which were driven by a 250 Hz variableamplitude signal produced by an analog electronics unit which was controlled by a PC. Experimental results are provided to show that the addition of the tactile display provides a small but significant improvement in manual tracking performance over the use of the visual display alone, and that the tracking task may be performed with only the tactile display. In further experiments the tactile display is compared with reactive force-feedback and is shown to confer most of the reactive display's performance improvement over tracking with only a visual display.

Comparison of force and tactile feedback for grasp force control in telemanipulation

Abstract: The comparative efficacy of using direct force feedback or a simple vibrotactile display to convey changes in the intensity of remote grasp force relayed from a robotic end effector is examined. The findings show that a simple vibrotactile cue, in the absence of direct force feedback, is effective in signaling abrupt changes in remote grasp force regardless of magnitude, and when changes in force are not too slow or protracted in nature (i.e., ramp time less than 2 s). In cases where the operator must dynamically tract and respond to slow but large variations in grasp force, the comparatively crude vibrotactile display would prove helpful; but would not be as effective as that of a direct contact force display. Immediate applications and utility of current generation and near-term prototype tactile displays are discussed.