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.

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors

Abstract: Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a ‘haptic glance’). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

Using robotic exploratory procedures to learn the meaning of haptic adjectives

Abstract: Delivering on the promise of real-world robotics will require robots that can communicate with humans through natural language by learning new words and concepts through their daily experiences. Our research strives to create a robot that can learn the meaning of haptic adjectives by directly touching objects. By equipping the PR2 humanoid robot with state-of-the-art biomimetic tactile sensors that measure temperature, pressure, and fingertip deformations, we created a platform uniquely capable of feeling the physical properties of everyday objects. The robot used five exploratory procedures to touch 51 objects that were annotated by human participants with 34 binary adjective labels. We present both static and dynamic learning methods to discover the meaning of these adjectives from the labeled objects, achieving average F1 scores of 0.57 and 0.79 on a set of eight previously unfelt items.

The body surface as a communication system: The state of the art after 50 years

Abstract: The suggestion that the body surface might be used as an additional means of presenting information to human-machine operators has been around in the literature for nearly 50 years Although recent technological advances have made the possibility of using the body as a receptive surface much more realistic, the fundamental limitations on the human information processing of tactile stimuli presented across the body surface are, however, still largely unknown This literature review provides an overview of studies that have attempted to use vibrotactile interfaces to convey information to human operators The importance of investigating any possible central cognitive limitations (ie, rather than the peripheral limitations, such as related to sensory masking, that were typically addressed in earlier research) on tactile processing for the most effective design of body interfaces is highlighted The applicability of the constraints emerging from studies of tactile processing under conditions of unisensory (ie, purely tactile) stimulus presentation, to more ecologically valid conditions of multisensory stimulation, is also discussed Finally, the results obtained from recent studies of tactile information processing under conditions of multisensory stimulation are described, and their implications for haptic/tactile interface design elucidated

Magnetically-controllable, active haptic interface system and apparatus

Abstract: According to the present invention, a haptic interface system, also known as a force feedback system, comprises a motor for supplying actuating energy and a magnetically-controllable device that transfers the actuating energy into force feedback sensations. The magnetically-controllable device contains a magnetically-controllable medium beneficially providing variable resistance forces in proportion to the strength of an applied magnetic field. The system further comprises a computer system having a processor that runs an interactive program or event, a video display for displaying the interactive program or event, and a haptic interface device in operable contact with an operator for controlling inputs to the interactive program. Based on the received inputs and on processing the interactive program, the computer system provides a variable output signal, corresponding to a feedback force, to control the magnetically-controllable device in transferring the actuating energy into feedback force that is actively applied to haptic interface device.