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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 446-451
Riichiro Tadakuma , Harvard School of Engineering and Applied Sciences, USA
Robert D. Howe , Harvard School of Engineering and Applied Sciences, USA
This work presents a new tactile display device for relaying contact information to locations along the human arm. The system is intended to facilitate teleoperation of whole-arm manipulation tasks, such remotely controlling a humanoid robot to grasp and lift large objects. The system consists of a set of five tactors, each a foam-covered paddle 42 × 48 mm. These tactors are brought into contact with the skin of the user's arm by small DC motors under computer control. The tactors are mounted on frames which are readily mounted to the upper and lower arm using Velcro straps. User tests demonstrate that the system can effectively convey contact information to the user. The benefits of this haptic display modality are evaluated in comparison with degraded visual information to estimate the resolution limits of the system.

R. Tadakuma and R. D. Howe, "A whole-arm tactile display system," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 446-451.
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