The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.02 - April-June (2011 vol.4)
pp: 88-99
Brian T. Gleeson , University of Utah, Salt Lake City
ABSTRACT
Experiments were conducted using a novel tactile contact rendering device to explore important factors of the tactile contact event. The effects of contact velocity and event-based transient vibrations were explored. Our research was motivated by a need to better understand the perception of the tactile contact event and to develop a means of rendering stiff surfaces with a nonspecialized haptic device. A passive tactile display, suitable for mounting on a Phantom robot, was developed and is capable of rendering the tactile sensation of contact on a fingertip over a range of velocities commonly experienced during everyday manipulation and tactile exploration. Experiments were conducted with this device to explore how tactile contact dynamics affect the perceived stiffness of a virtual surface. It was found that contact velocity does not have a significant effect on perceived stiffness. These results can be explained by prior research that defines perceived hardness (akin to stiffness) in terms of rate-hardness. However, in agreement with prior literature with stylus-based studies, the addition of transient vibrations to the contact event can, in some cases, increase the perceived stiffness.
INDEX TERMS
Tactile feedback, perception and psychophysics, haptic rendering, sensors.
CITATION
Brian T. Gleeson, "Exploration of Tactile Contact in a Haptic Display: Effects of Contact Velocity and Transient Vibrations", IEEE Transactions on Haptics, vol.4, no. 2, pp. 88-99, April-June 2011, doi:10.1109/TOH.2010.26
REFERENCES
[1] C.J. Hasser and M.W. Daniels, "Tactile Feedback with Adaptive Controller for a Force-Reflecting Haptic Display," Proc. 15th Southern Biomedical Eng. Conf., pp. 526-529, 1996.
[2] G. Westling and R.S. Johansson, "Responses in Glabrous Skin Mechanoreceptors during Precision Grip in Humans," Experimental Brain Research, vol. 66, pp. 128-140, 1987.
[3] A. Rao and A. Gordon, "Contribution of Tactile Information to Accuracy in Pointing Movements," Experimental Brain Research, vol. 138, pp. 438-445, 2001.
[4] T. Yoshikawa and A. Nagura, "A Touch/Force Display System for Haptic Interface," Presence: Teleoperators and Virtual Environments, vol. 10, pp. 225-235, 2001.
[5] K.J. Kuchenbecker, D. Ferguson, M. Kutzer, M. Moses, and A.M. Okamura, "The Touch Thimble: Providing Fingertip Contact Feedback during Point-Force Haptic Interaction," Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 239-246, 2008.
[6] K. Hirota and M. Hirose, "Implementation of Partial Surface Display," Presence: Teleoperators and Virtual Environments, vol. 7, pp. 638-649, 1998.
[7] A. Frisoli, M. Solazzi, F. Salsedo, and M. Bergamasco, "A Fingertip Haptic Display for Improving Curvature Discrimination," Presence: Teleoperators and Virtual Environments, vol. 17, pp. 550-561, 2008.
[8] K.J. Kuchenbecker, W.R. Provancher, G. Niemeyer, and M.R. Cutkosky, "Haptic Display of Contact Location," Proc. 12th Int'l Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 40-47, 2004.
[9] W.R. Provancher, M.R. Cutkosky, K.J. Kuchenbecker, and G. Niemeyer, "Contact Location Display for Haptic Perception of Curvature and Object Motion," The Int'l J. Robotics Research, vol. 24, pp. 691-702, 2005.
[10] W.A. McNeely, "Robotic Graphics: A New Approach to Force Feedback for Virtual Reality," Proc. IEEE Virtual Reality Ann. Int'l Symp., pp. 336-341, 1993.
[11] Y. Yokokohji, N. Muramori, Y. Sato, and T. Yoshikawa, "Designing an Encountered-Type Haptic Display for Multiple Fingertip Contacts Based on the Observation of Human Grasping Behavior," Proc. 12th Int'l Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 66-73, 2004.
[12] S. Nakagawara, S. Nakagawara, H. Kajimoto, N. Kawakami, S.A.T.S. Tachi, and I.A.K.I. Kawabuchi, "An Encounter-Type Multi-Fingered Master Hand Using Circuitous Joints," Proc. Int'l Conf. Robotics and Automation, pp. 2667-2672, 2005.
[13] D.L. Jindrich, Y. Zhou, T. Becker, and J.T. Dennerlein, "Non-Linear Viscoelastic Models Predict Fingertip Pulp Force-Displacement Characteristics during Voluntary Tapping," J. Biomechanics, vol. 36, pp. 497-503, 2003.
[14] D.A. Lawrence, L.Y. Pao, A.M. Dougherty, M.A. Salada, and Y. Pavlou, "Rate-Hardness: A New Performance Metric for Haptic Interfaces," IEEE Trans. Robotics and Automation, vol. 16, no. 4, pp. 357-371, Aug. 2000.
[15] D. Constantinescu, S.E. Salcudean, and E.A. Croft, "Haptic Rendering of Rigid Contacts Using Impulsive and Penalty Forces," IEEE Trans. Robotics and Automation, vol. 21, no. 3, pp. 309-323, June 2005.
[16] P.J. Berkelman, R.L. Hollis, and S.E. Salcudean, "Interacting with Virtual Environments Using a Magnetic Levitation Haptic Interface," Proc. Int'l Conf. Intelligent Robots and Systems, vol. 1, pp. 117-122, 1995.
[17] J.D. Hwang, M.D. Williams, and G. Niemeyer, "Toward Event-Based Haptics: Rendering Contact Using Open-Loop Force Pulses," Proc. 12th Int'l Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 24-31, 2004.
[18] K.J. Kuchenbecker, J. Fiene, and G. Niemeyer, "Improving Contact Realism through Event-Based Haptic Feedback," IEEE Trans. Visualization and Computer Graphics, vol. 12, no. 2, pp. 117-123, Mar./Apr. 2006.
[19] J. Fiene, K.J. Kuchenbecker, and G. Niemeyer, "Event-Based Haptic Tapping with Grip Force Compensation," Proc. IEEE Haptic Symp., p. 87, 2006.
[20] A.M. Okamura, M.R. Cutkosky, and J.T. Dennerlein, "Reality-Based Models for Vibration Feedback in Virtual Environments," IEEE/ASME Trans. Mechatronics, vol. 6, no. 3, pp. 245-252, Sept. 2001.
[21] D.A. Kontarinis and R.D. Howe, "Tactile Display of Vibratory Information in Teleoperation and Virtual Environments," Presence: Teleoperators and Virtual Environments, vol. 4, pp. 387-402, 1995.
[22] P. Wellman and R.D. Howe, "Towards Realistic Vibrotactile Display in Virtual Environments," Proc. ASME Dynamic Systems and Control Division, pp. 713-718, 1995.
[23] E. Vander Poorten and Y. Yokokohji, "Rendering a Rigid Virtual World through an Impulsive Haptic Interface," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, pp. 1547-1552, 2006.
[24] S.L. Springer and N.J. Ferrier, "Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping," J. Mechanical Design, vol. 124, pp. 277-283, 2002.
[25] B.T. Gleeson and W.R. Provancher, "Toward Developing a Velocity Controlled Tactile Impact Display," Proc. Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 373-374, 2008.
[26] A.Z. Hajian and R.D. Howe, "Identification of the Mechanical Impedance at the Human Finger Tip," Trans. ASME J. Biomechanical Eng., vol. 119, pp. 109-114, 1997.
[27] K.J. Kuchenbecker, J. Fiene, and G. Niemeyer, "Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact," Proc. First Joint Eurohaptics Conf. and Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 381-387, 2005.
19 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool