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.

Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles

Abstract: We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.

Wolverine: A wearable haptic interface for grasping in virtual reality

Abstract: The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of rigid objects in a virtual reality interface. In contrast to prior work on wearable force feedback gloves, we focus on creating a low cost and lightweight device that renders a force directly between the thumb and three fingers to simulate objects held in pad opposition (precision) type grasps. Leveraging low-power brake-based locking sliders, the system can withstand over 100N of force between each finger and the thumb, and only consumes 0.24 mWh (0.87 joules) for each braking interaction. Integrated sensors are used both for feedback control and user input: time-of-flight sensors provide the position of each finger and an IMU provides overall orientation tracking. This paper describes the mechanical design, control strategy, and performance analysis of the Wolverine system and provides a comparison with several existing wearable haptic devices.

Sensory input and control of grip.

Abstract: When we use our digits to manipulate objects the applied fingertip forces and torques tangential to the grip surfaces are a result of complex muscle activity. These patterns are acquired during our ontogenetic development and we select them according to the manipulative intent. But the basic force coordination expressed in these patterns has to be tuned to the physical properties of the current object, e.g. shape, surface friction and weight. This takes place primarily by parametric adjustments of the force output based on internal models of the target object, i.e. implicit memory systems that represent critical object properties. From visual or haptic information we identify objects and automatically retrieve the relevant models. These models are then used to adapt the motor commands prior to their execution. The formation of models and their swift updating with changes in object properties depend, however, on signals from tactile sensors in the fingertips.

Toward Haptic Communications Over the 5G Tactile Internet

Abstract: Touch is currently seen as the modality that will complement audition and vision as a third media stream over the Internet in a variety of future haptic applications which will allow full immersion and that will, in many ways, impact society. Nevertheless, the high requirements of these applications demand networks which allow ultra-reliable and low-latency communication for the challenging task of applying the required quality of service for maintaining the user’s quality of experience at optimum levels. In this survey, we enlist, discuss, and evaluate methodologies and technologies of the necessary infrastructure for haptic communication. Furthermore, we focus on how the fifth generation of mobile networks will allow haptic applications to take life, in combination with the haptic data communication protocols, bilateral teleoperation control schemes and haptic data processing needed. Finally, we state the lessons learned throughout the surveyed research material along with the future challenges and infer our conclusions.

The role of haptic versus visual volume cues in the size-weight illusion.

Abstract: Three experiments establish the size-weight illusion as a primarily haptic phenomenon, despite its having been more traditionally considered an example of vision influencing haptic processing. Experiment 1 documents, across a broad range of stimulus weights and volumes, the existence of a purely haptic size-weight illusion, equal in strength to the traditional illusion. Experiment 2 demonstrates that haptic volume cues are both sufficient and necessary-for a full-strength illusion. In contrast, visual volume cues are merely sufficient, and produce a relatively weaker effect. Experiment 3 establishes that congenitally blind subjects experience an effect as powerful as that Of blindfolded sighted observers, thus demonstrating that visual imagery is also unnecessary for a robust size-weight illusion. The results are discussed in terms of their implications for both sensory and cognitive theories of the size-weight illusion. Applications of this work to a human factors design and to sensor-based systems for robotic manipulation are also briefly considered.