Showing papers on "Haptic technology published in 2003"

Individual Differences in Haptic Information Processing: The “Need for Touch” Scale

Abstract: This research details the development of the “Need for Touch” (NFT) scale designed to measure individual differences in preference for haptic (touch) information. The 12-item NFT scale consists of autotelic and instrumental dimensions. Results are reported that support the scale's hypothesized internal structure as well as its reliability, convergent, discriminant, and nomological validity. Individual differences in chronic accessibility to haptic information across groups varying in NFT were also found in two experiments. Additionally, NFT moderated the relationship between direct experience and confidence in judgment.

To Have and To Hold:The Influence of Haptic Information on Product Judgments

Abstract: Haptic information, or information attained through touch by the hands, is important for the evaluation of products that vary in terms of material properties related to texture, hardness, temperature, and weight. The authors develop and propose a conceptual framework to illustrate that salience of haptic information differs significantly across products, consumers, and situations. The authors use two experiments to assess how these factors interact to impair or enhance the acquisition and use of haptic information. Barriers to touch, such as a retail display case, can inhibit the use of haptic information and consequently decrease confidence in product evaluations and increase the frustration level of consumers who are more motivated to touch products. In addition, written descriptions and visual depictions of products can partially enhance acquisition of certain types of touch information. The authors synthesize the results of these studies and discuss implications for the effect of haptic infor...

Haptic feedback using rotary harmonic moving mass

Abstract: A haptic device comprises an actuator and a mass. The actuator has a shaft. The actuator is elastically coupled to the mass and/or a base.

System and method for haptic sculpting of physical objects

Abstract: In accordance with an embodiment of the present invention, a method for haptic sculpting of a physical object using a haptic device comprises defining a haptic object for aiding in the sculpting of the physical object, dynamically modifying a configuration of the haptic object in response to a medical device coupled to the haptic device being in proximity to the haptic object, and providing haptic cues to guide a user of the medical device in sculpting at least a portion of the physical object corresponding to the haptic object.

Haptic feedback effects for control knobs and other interface devices

Abstract: The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.

A Haptic Back Display for Attentional and Directional Cueing

Abstract: We have been developing a haptic back display using a 3-by-3 tactor array This paper reports two studies that investigated the use of such a display for delivering attention- and direction-related information to its user The first study measured the effectiveness of haptic cues in redirecting an observer’s visual spatial attention The observer was first tapped on the back, and then asked to detect a change between two similar visual scenes We found that reaction time decreased by an average of 41% (1630 ms) when the location of the tactor coincided with the quadrant of the visual scene where a change occurred We also found that reaction time increased by an average of 19% (781 ms) when the locations of the tapping and visual change did not coincide Such a haptic attentional cueing system can be beneficial to a user who must attend to information in small areas within a large and complex visual display (eg, an aircraft cockpit) In the second study, sequenced pulses were employed to impart directional information We found that naive and minimally-trained observers were able to discern the directions of a set of horizontal, vertical and diagonal directional lines with an overall accuracy of 81% Means of improving the overall accuracy were suggested and tested These directional lines can be applied to a haptic navigation guidance or situation awareness system

Touching for knowing : cognitive psychology of haptic manual perception

Abstract: 1. List of Authors 2. Chapter 1. Introduction: Touch and cognition (by Hatwell, Yvette) 3. Part 1. Some anatomical and neurophysiological bases of tactile manual perception 4. Chapter 2. General characteristics of the anatomical and functional organization of cutaneous and haptic perceptions (by Gentaz, Edouard) 5. Chapter 3. Anatomical and functional organization of cutaneous and haptic perceptions: The contribution of neuropsychology and cerebral functional imagery (by Gentaz, Edouard) 6. Part 2. Haptic perceptual exploration 7. Chapter 4. Manual exploration and haptic perception in infants (by Streri, Arlette) 8. Chapter 5. Manual exploratory procedures in children and adults (by Hatwell, Yvette) 9. Chapter 6. Handedness and manual exploration (by Streri, Arlette) 10. Part 3. Haptic perceptions and spatial imaged representations 11. Chapter 7. The haptic identification of everyday life objects (by Klatzky, Roberta L.) 12. Chapter 8. Haptic processing of spatial and material object properties (by Gentaz, Edouard) 13. Chapter 9. Haptic perceptual illusions (by Heller, Morton A.) 14. Chapter 10. Congenitally blindness and spatial mental imagery (by Cornoldi, Cesare) 15. Part 4. Intermodal coordinations 16. Chapter 11. Intermodal relations in infancy (by Streri, Arlette) 17. Chapter 12. Intermodal coordinations in children and adults (by Hatwell, Yvette) 18. Chapter 13. Tactile exploration in nonhuman primates (by Lacreuse, Agnes) 19. Part 5. Some practical applications for visually impaired people 20. Chapter 14. Braille: Issues on structure, teaching and assessment (by Tobin, Michael J.) 21. Chapter 15. The tactile reading of maps and drawings, and the access of blind people to works of art (by Hatwell, Yvette) 22. Chapter 16. Sensory substitution: Limits and perspectives (by Lenay, Charles) 23. Chapter 17. New technologies empowering visually impaired people for accessing documents (by Burger, Dominique) 24. Name index 25. Subject index

Perceptual Design of Haptic Icons

Abstract: The bulk of applications for haptic feedback employ direct rendering approaches wherein a user touches a virtual model of some "real" thing, often displayed graphically as well. We propose a new class of applications based on abstract messages, ranging from "haptic icons" - brief signals conveying an ob- ject's or event's state, function or content - to an expressive haptic language for interpersonal communication. Building this language requires us to understand how synthetic haptic signals are perceived, and what they can mean to us. Experiments presented here address the perception question by using an effi- cient version of Multidimensional Scaling (MDS) to extract perceptual axes for complex haptic icons: once this space is mapped, icons can be designed to maximize both differentiability and individual salience. Results show that a set of icons constructed by varying the frequency, magnitude and shape of 2-sec, time-invariant wave shapes map to two perceptual axes, which differ depending on the signals' frequency range; and suggest that expressive capability is maxi- mized in one frequency subspace.

Haptic shifting devices

Abstract: A haptic shift device for use in shift-by-wire systems in vehicles. The haptic shift device includes a shift lever manipulatable by a user. At least one sensor detects a position of the shift lever, and a transmission gear of the vehicle is caused to be changed based on the position of the shift lever. At least one electrically-controlled actuator outputs a force on the shift lever. In some embodiments, the shift lever is moveable within a pattern and is blocked from areas outside the boundaries of the pattern. The actuator(s) can be active or passive, and/or a variable mechanical gate can be used to implement the pattern. Provided shifting modes can include automatic, manual, and/or sequential modes. Other shifting modes can also be provided.

Teleoperated touch feedback from the surfaces at the nanoscale: modeling and experiments

Abstract: In this paper, a teleoperated nanoscale touching system is proposed, and continuum nanoscale contact mechanics models are introduced. The tele-nanorobotic system consists of a piezoresistive nanoprobe with a sharp tip as the nanorobot and force-topology sensor, a custom-made 1-degree-of-freedom haptic device for force-feedback, three-dimensional (3D) virtual reality (VR) graphics display of the nano world for visual feedback, and a force-reflecting servo type scaled teleoperation controller. Using this system, one-dimensional and 3D touching experiments and VR simulations are realized. Scaling of nano-forces is one of the major issues of the scaled teleoperation system since nanometer scale forces are dominated by surface forces instead of inertial forces as in the macro world. As the force scaling approach, a heuristic rule is introduced where nano-forces are linearly scaled with an experimentally determined scaling parameter. Simulation results and preliminary experiments of touching silicon and InAs quantum dot nanostructures show that adhesion forces at the nanoscale can be felt repeatedly at the operator's hand, and the proposed system enables the nanoscale surface topography and contact/noncontact nano-force feedback.

Cutaneous Grooves: Composing for the Sense of Touch

Abstract: What if the traditional relationship between touch and music was essentially turned upside down, making the tactile sensation the aesthetic end? This paper presents a novel coupling of haptics technology and music, introducing the notion of tactile composition or aesthetic composition for the sense of touch. A system that facilitates the composition and perception of intricate, musically structured spatio-temporal patterns of vibration on the surface of the body is described. Relevant work from disciplines including sensory substitution, electronic musical instrument design, simulation design, entertainment technology, and visual music is considered. The psychophysical parameter space for our sense of touch is summarized and the building blocks of a compositional language for touch are explored. A series of concerts held for the skin and ears is described, as well as some of the lessons learned along the way. In conclusion, some potential evolutionary branches of tactile composition are posited.

HapticMaster – a generic force controlled robot for human interaction

Abstract: This paper describes the technical principles of a high‐performance force controlled robot, called the HapticMaster. It is designed as a generic platform for applications with human interaction. Therefore, it differs significantly from most industrial robots on the one hand, whereas it also differs from most haptic interfaces on the other hand due to its power. An admittance control paradigm is used, which facilitates a high joint stiffness in combination with high force sensitivity. Typical applications for the HapticMaster are found in virtual reality, haptics research, and robot rehabilitation.

Recent Developments and Applications of Haptic Devices

Abstract: Over recent years a variety of haptic feedback devices have been developed and are being used in a number of important applications. They range from joysticks used in the entertainment industry to specialised devices used in medical applications. This paper will describe the recent developments of these devices and show how they have been applied. It also examines how haptic feedback has been combined with visual display devices, such as virtual reality walls and workbenches, in order to improve the immersive experience. ACM CSS: H.5.2 Information Interfaces and Presentation—Haptic I/O; I.3.8 Computer Graphics—Applications; I.6 Simulation and Modelling—Applications

Haptic feedback using a keyboard device

Abstract: A low-cost haptic feedback keyboard device for providing haptic feedback to a user for enhancing interactions in a displayed environment provided by a computer. The haptic keyboard device can be a keyboard having multiple keys, or can be a wrist rest or other attachment coupled to a keyboard. The device includes a housing that is physically contacted by the user and rests on a support surface. An actuator is coupled to the housing and applies a force to the housing approximately along an axis that is substantially perpendicular to the support surface, where the force is transmitted to the user contacting the housing. In one embodiment, the force is an inertial force that is output by moving an inertial mass. The keyboard device can be used in conjunction with another haptic device, such as a mouse, trackball, or joystick.

System and method for intra-operative haptic planning of a medical procedure

Abstract: In accordance with an embodiment of the present invention, attractive haptic objects are associated with a target region for performing a medical procedure and repulsive haptic objects are associated with anatomical features to be avoided during the medical procedure. A surgeon may perform surgical planning by moving the haptic device around. The surgeon moves the haptic device until a pose is found where haptic cues from the attractive haptic objects are active indicating that a medical device if attached to the haptic device would reach the target region, and haptic cues from the repulsive haptic objects are inactive indicating that the medical device would not penetrate any of the anatomical features to be avoided. During the planning process a virtual tool may be displayed on a display device to indicate the position and/or movement of the medical device if the medical device had been coupled to the haptic device.

Controlling haptic sensations for vibrotactile feedback interface devices

Abstract: Controlling haptic sensations from a vibrotactile feedback device connected to a computer. The vibrotactile device includes an actuator having a rotatable mass, and receives information, which causes a periodic control signal to be produced. The control signal controls the actuator to rotate the mass to induce a vibration in the device, where a magnitude and a frequency of the vibration can be adjusted independently of each other by adjusting the control signal. Vibration magnitude is based on control signal duty cycle, and vibration frequency is based on control signal frequency. Kinesthetic haptic effects can be output on the vibrotactile device by mapping the kinesthetic effect to a vibrotactile effect that causes vibrotactile forces to be output. The kinesthetic haptic effect can be a periodic or nonperiodic effect.

System and method for providing rotational haptic feedback

Abstract: Systems and methods for providing haptic cues to a touch-sensitive input device having a rotary degree of freedom are described. One system described comprises a touch sensitive input device is configured to move in a rotary degree of freedom. The system further comprises an actuator configured to produce a rotational force on the touch-sensitive input device. In one such system, the actuator comprises an electromagnetic core configured to produce force on a magnet affixed to the touch-sensitive input device. In another such system, a motor provides the rotational force.

Psychophysical characterization and testbed validation of a wearable vibrotactile glove for telemanipulation

Abstract: This paper describes and evaluates a high-fidelity, low-cost haptic interface for teleoperation. The interface is a wearable vibrotactile glove containing miniature voice coils that provides continuous, proportional force information to the user's fingertips. In psychophysical experiments, correlated variations in the frequency and amplitude of the stimulators extended the user's perceptual response range compared to varying amplitude or frequency alone. In an adaptive, force-limited, pick-and-place manipulation task, the interface allowed users to control the grip forces more effectively than no feedback or binary feedback, which produced equivalent performance. A sorting experiment established that proportional tactile feedback enhances the user's ability to discriminate the relative properties of objects, such as weight. We conclude that correlated amplitude and frequency signals, simulating force in a remote environment, substantially improve teleoperation.

Development of a non-grounded haptic interface using the gyro effect

Abstract: In this paper, we propose a technique capable of generating haptic sensation in a human-scale virtual reality environment or in an augmented reality environment. To realize such a large working volume and the ability to move easily within it, we have developed a non-grounded haptic interface using the gyro effect. The interface consists of a flywheel equipped with motor controlled gimbals that tilt the flywheel. We also propose three haptic rendering methods that can provide information regarding territories, target direction and trajectory. The effectiveness of our haptic interface was tested by conducting a series of experiments.

GentleGuide: An Exploration of Haptic Output for Indoors Pedestrian Guidance

Abstract: This paper describes an investigation into how haptic output can be used to deliver guidance to pedestrians, who do not have any particular disability, to find their way to a particular destination indoors, e.g., a room in a hospital. A prototype device called GentleGuide was designed iteratively, resolving several design issues for the use of haptic output. GentleGuide has been assessed experimentally. Our conclusion is that haptic output offers significant promise both in improving performance and in reducing the disruptiveness of technology. A negative aspect of exclusively relying on a device like GentleGuide is the reduced location and orientation awareness by some participants.

The hapticon editor: a tool in support of haptic communication research

Abstract: We define haptic icons, or "hapticons", as brief programmed forces applied to a user through a haptic interface, with the role of communicating a simple idea in manner similar to visual or auditory icons. In this paper we present the design and implementation of an innovative software tool and graphical interface for the creation and editing of hapticons. The tool's features include various methods for creating new icons including direct recording of manual trajectories and creation from a choice of basis waveforms; novel direct-manipulation icon editing mechanisms, integrated playback and convenient storage of icons to file. We discuss some ways in which the tool has aided our research in the area of haptic iconography and present an innovative approach for generating and rendering simple textures on a low degree of freedom haptic device using what we call terrain display.

The haptic scissors: cutting in virtual environments

Abstract: The "haptic scissors" is a device that creates the sensation of cutting in virtual environments. The scissors have two degrees of freedom of motion and force feedback, one for cutting (single blade rotation) and one for translation. An algorithm was developed to simultaneously display translational and cutting forces for a realistic cutting simulation. In previous work, we use filtered data from cutting biological tissues to create "haptic recordings" of the cutting experience. Here, we consider two cutting models: one based on real tissue data and one that is analytical. The model based on real tissue is a segmented linear empirical model of the original data. Experimental results show that users cannot differentiate between these models and the haptic recordings created earlier. The analytical model uses a combination of friction, assumed material properties, and user motion (position and velocity) to determine the displayed cutting forces.

Touch screen interface with haptic feedback device

Abstract: The invention relates to a haptic control device by which an operator is provided with visual as well as tactile feedback. In one embodiment, the operator interacts with a control system via a display panel. Based on the nature of the operator inputs, the control system can provide the operator with both a visual output via the display panel, as well as tactile feedback.

Haptic effects for virtual reality-based post-stroke rehabilitation

Abstract: The majority of today's haptic interfaces are designed for hand-based interaction with virtual environments. However, there are several real-life tasks that require a person to interact with the environment using one's foot. Researchers have developed systems for simulating walking in a virtual environment. This paper describes a different approach to foot based interactions, intended for users in sitting position. A VR-based rehabilitation system using a prototype "Rutgers Ankle" device is presented, along with the methods of enhancing interaction realism through haptic feedback. Two application examples used for post-stroke patient rehabilitation are presented. Initial results from pilot clinical testing are briefly described.

System and method for using a haptic device as an input device

Abstract: The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.

Haptic human-computer interaction

Abstract: The area of haptic, or touch-based, human computer interaction has grown rapidly over the last few years. A range of new applications has become possible now that touch can be used as an interaction technique [2].

Characterizing the Human Wrist for Improved Haptic Interaction

Abstract: Haptic displays provide the user with a sense of touch in both simulation of virtual environments and teleoperation of remote robots. The instantaneous impedance of the user’s hand affects this force interaction, changing the transients experienced during activities such as exploratory tapping. This research characterizes the behavior of the human wrist joint while holding a stylus in a three-fingered grasp. Nonparametric identification methods, evaluating frequency-and time-responses, support a second-order system model. Further analysis shows a positive linear correlation between grip force and wrist impedance for all subjects, though each individual’s trend is unique. These findings suggest that a quick calibration procedure and a realtime grip force measurement could enable a haptic display to predict user response characteristics throughout an interaction. Such knowledge would enable haptic control algorithms to adapt continuously to the user’s instantaneous state for improved performance.Copyright © 2003 by ASME

Virtual fixture architectures for telemanipulation

Abstract: A forbidden-region virtual fixture (FRVF) is a computer-generated constraint that displays position or force limitations to a robot manipulator or operator, in order to prevent motion into forbidden regions of the workspace. We compare nine FRVFs on each of four common telemanipulator control architectures: position forward, position exchange, position forward/force feedback, and position exchange/force feedback. A one-degree-of-freedom telemanipulation system was used in an experiment designed to simulate users working near a known forbidden region. The metrics of tracking, safety, and submittance were used to analyze the performance of the system with six different users. The results indicate that different FRVF architectures perform best for each of the three metrics. No single FRVF scheme is the best over all metrics, so selection of an FRVF architecture should be an application-dependent weighting of the three metrics. Across all control architectures, the results indicate that a very strong FRVF at the slave device in combination with no FRVF at the master device leads to poor telepresence.

Haptic Devices for Virtual Reality, Telepresence, and Human-Assistive Robotics

Abstract: 4.