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Haptic technology

About: Haptic technology is a research topic. Over the lifetime, 18818 publications have been published within this topic receiving 306713 citations. The topic is also known as: haptics & haptic media.


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Journal ArticleDOI
TL;DR: Hptic feedback is considered as an important element for providing improved presence and reasonable task performance in remote navigation and an approach for using haptic information to ''experientially'' teleoperate a mobile robot is described.
Abstract: Traditionally, the main goal of teleoperation has been to successfully achieve a given task as if performing the task in local space. An emerging and related requirement is to also match the subjective sensation or the user experience of the remote environment, while maintaining reasonable task performance. This concept is often called ''presence'' or ''(experiential) telepresence,'' which is informally defined as ''the sense of being in a mediated environment.'' In this paper, haptic feedback is considered as an important element for providing improved presence and reasonable task performance in remote navigation. An approach for using haptic information to ''experientially'' teleoperate a mobile robot is described. Haptic feedback is computed from the range information obtained by a sonar array attached to the robot, and delivered to a user's hand via a haptic probe. This haptic feedback is provided to the user, in addition to stereoscopic images from a forward-facing stereo camera mounted on the mobile robot. The experiment with a user population in a real-world environment showed that haptic feedback significantly improved both task performance and user-felt presence. When considering user-felt presence, no interaction among haptic feedback, image resolution, and stereoscopy was observed, that is, haptic feedback was effective, regardless of the fidelity of visual elements. Stereoscopic images also significantly improved both task performance and user-felt presence, but high-resolution images only significantly improved user-felt presence. When considering task performance, however, it was found that there was an interaction between haptic feedback and stereoscopy, that is, stereoscopic images were only effective when no force feedback was applied. According to the multiple regression analysis, haptic feedback was a higher contributing factor to the improvement in performance and presence than image resolution and stereoscopy.

70 citations

Journal ArticleDOI
TL;DR: This paper presents the control system design of a rehabilitation and training robot for the upper limbs based on a hierarchical structure, which allows the execution of sequence of switching control laws corresponding to the required training configuration.

70 citations

Book ChapterDOI
01 Jan 1999
TL;DR: This chapter discusses challenging control problems in multi-modal telepresence and teleaction systems and fundamental control modes to organize and distribute control between human and system are discussed.
Abstract: In this chapter we discuss challenging control problems in multi-modal telepresence and teleaction systems. The typical system structure consists of a human operator, the possibly distant (and differently scaled) teleoperator and various types of barriers between them. Fundamental control modes to organize and distribute control between human and system are discussed. Potential applications and enabling technologies are sampled. A subjective listing of central control issues is given including multi-modal control, impact of time-delays, local control measures, real world, virtual environment (VE) and augmented environment interaction, sensory substitution, etc. An experimental prototype system for multi-modal telepresence and teleaction developed in our laboratory is presented and some experiments further illustrating typical control challenges are highlighted.

70 citations

Proceedings ArticleDOI
27 Aug 1992
TL;DR: A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality.
Abstract: A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

70 citations

Proceedings ArticleDOI
19 May 2008
TL;DR: Simulation results show the superior performance of the proposed adaptive scheme, with respect to direct teleoperation, particularly in terms of increasing the stability margin and of significantly ameliorating transparency in the presence of large time delays.
Abstract: This paper proposes the application of an adaptive impedance control scheme to alleviate some of the problems associated with the presence of time delays in a haptic teleoperation system. Continuous on-line estimation of the remote environment's impedance is performed, and is then used as a local model for haptic display control. Lyapunov stability of the proposed impedance adaptation law is demonstrated. A series of experiments is performed to evaluate the performance of this teleoperation control scheme. Two performance measures are defined to assess transparency and stability of the teleoperator. Simulation results show the superior performance of the proposed adaptive scheme, with respect to direct teleoperation, particularly in terms of increasing the stability margin and of significantly ameliorating transparency in the presence of large time delays. Experimental results, using a phantom omni as the haptic master device, support this conclusion.

70 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023647
20221,508
2021745
20201,056
20191,180
20181,034