The Community for Technology Leaders
RSS Icon
Issue No.02 - April-June (2010 vol.3)
pp: 109-118
Enzo Pasquale Scilingo , University of Pisa, Pisa
Matteo Bianchi , University of Pisa, Pisa
Giorgio Grioli , University of Pisa, Pisa
Antonio Bicchi , University of Pisa, Pisa
While it is known that softness discrimination relies on both kinesthetic and cutaneous information, relatively little work has been done on the realization of haptic devices replicating the two cues in an integrated and effective way. In this paper, we first discuss the ambiguities that arise in unimodal touch, and provide a simple intuitive explanation in terms of basic contact mechanics. With this as a motivation, we discuss the implementation and control of an integrated device, where a conventional kinesthetic haptic display is combined with a cutaneous softness display. We investigate the effectiveness of the integrated display via a number of psychophysical tests and compare the subjective perception of softness with that obtained by direct touch on physical objects. Results show that the subjects interacting with the integrated haptic display are able to discriminate softness better than with either a purely kinesthetic or a purely cutaneous display.
Haptic interfaces, softness rendering, kinesthesia, cutaneous perception, psychophysics.
Enzo Pasquale Scilingo, Matteo Bianchi, Giorgio Grioli, Antonio Bicchi, "Rendering Softness: Integration of Kinesthetic and Cutaneous Information in a Haptic Device", IEEE Transactions on Haptics, vol.3, no. 2, pp. 109-118, April-June 2010, doi:10.1109/TOH.2010.2
[1] D. Katz, The World of Touch, L.E. Krueger, ed. Lawrence Erlbaum Assoc., 1989.
[2] S.L. Lederman and R.L. Klatzky, "Relative Availability of Surface and Object Properties During Early Haptic Processing," J. Experimental Psychology: Human Perception and Performance, vol. 23, no. 6, pp. 1680-1707, 1997.
[3] R.L. Klatzky, S.J. Lederman, and C. Reed, "Haptic Integration of Object Properties: Texture, Hardness, and Planar Contour," J. Experimental Psychology: Human Perception and Performance, vol. 15, no. 1, pp. 45-57, 1989.
[4] R.L. Klatzky, S.J. Lederman, and D.E. Matula, "Imagined Haptic Exploration in Judgements of Objects Properties," J. Experimental Psychology. Learning, Memory, and Cognition, vol. 17, no. 1, pp. 314-322, 1991.
[5] S.J. Lederman and R.L. Klatzky, "Hand Movements: A Window into Haptic Object Recognition," Cognitive Psychology, vol. 19, no. 12, pp. 342-368, 1987.
[6] S.D. Newman, R.L. Klatzky, S.J. Lederman, and M.A. Just, "Imagining Material versus Geometric Properties of Objects: An fMRI Study," Cognitive Brain Research, vol. 23, no. 3, pp. 235-246, 2005.
[7] M.A. Srinivasan and R.H. LaMotte, "Tactile Discrimination of Softness," J. Neurophysiology, vol. 73, no. 1, pp. 88-101, 1995.
[8] http:/, Jan. 2008.
[9] http:/, Jan. 2008.
[10] L. Yobas, D.M. Durand, G.G. Skebe, F.J. Lisy, and M.A. Huff, "A Novel Integrable Microvalve for Refreshable Braille Display System," IEEE J. Microelectromechanical System, vol. 12, no. 3, pp. 252-263, June 2003.
[11] V. Levesque, J. Pasquero, V. Hayward, and M. Legault, "Display of Virtual Braille Dots by Lateral Skin Deformation: Feasibility Study," ACM Trans. Applied Perception, vol. 2, no. 2, pp. 132-149, 2005.
[12] S. Koroki, H. Kajimoto, H. Nii, N. Kawakami, and S. Tachi, "Proposal for Tactile Sense Presentation that Combines Electrical and Mechanical Stimulus," Proc. World Haptics Conf., pp. 121-126, 2007.
[13] A. Bicchi, D.E. De Rossi, and E.P. Scilingo, "The Role of the Contact Area Spread Rate in Haptic Discrimination of Softness," IEEE Trans. Robotics and Automation, vol. 16, no. 5, pp. 496-504, Oct. 2000.
[14] K. Fujita and H. Ohmori, "A New Softness Display Interface by Dynamic Fingertip Contact Area Control," Proc. Fifth World Multi Conf. Systemics, Cybernetics and Informatics, pp. 78-82, 2001.
[15] H. Yokota, A. Yamamoto, H. Yamamoto, and T. Higuchi, "Producing Softness Sensation on an Electrostatic Texture Display for Rendering Diverse Tactile Feelings," Proc. Second Joint EuroHaptics Conf. and Symp. Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. 23, no. 6, pp. 584-585, 2007.
[16] K.O. Johnson, "The Roles and Functions of Cutaneous Mechanoreceptors," Current Opinion in Neurobiology, vol. 11, no. 12, pp. 455-461, 2001.
[17] D. Pawluk and R. Howe, "Dynamic Contact of the Human Fingerpad Against a Flat Surface," J. Biomechanical Eng., vol. 121, no. 6, pp. 605-611, 1999.
[18] D. Pawluk and R. Howe, "Dynamic Lumped Element Response of the Human Fingerpad," J Biomechanical Eng., vol. 121, no. 2, pp. 178-183, 1999.
[19] C. Guler, N. Berme, and S. Simon, "A Viscoelastic Sphere Model for the Representation of Plantar Soft Tissue During Simulations—Kinematics and Kinetics During the Stance Phase of Walking," J. Biomechanics, vol. 31, pp. 847-853, 1998.
[20] E. Serina, E. Mockensturm, C. MoteJr, and D. Rempel, "A Structural Model of the Forced Compression of the Fingertip Pulp," J. Biomechanics, vol. 31, no. 7, pp. 639-646, 1998.
[21] K.O. Johnson, T. Yoshioka, and F. Vega Bermudez, "Tactile Functions of Mechanoreceptive Afferents Innervating the Hand," J. Clinical Neurophysiology, vol. 17, no. 11, pp. 538-558, 2000.
[22] J. Jachowicz, R. McMullen, and D. Prettypaul, "Indentometric Analysis of In Vivo Skin and Comparison with Artificial Skin Models," Skin Research and Technology, vol. 13, no. 6, pp. 299-309, 2007.
[23] E.P. Scilingo, N. Sgambelluri, G. Tonietti, and A. Bicchi, "Integrating Two Haptic Devices for Performance Enhancement," Proc. World Haptics Conf., pp. 139-144, 2007.
[24] R.C. Oldfield, "The Assessment and Analysis of Handedness: The Edinburgh Inventory," Neuropsychologia, vol. 9, no. 1, pp. 97-113, 1971.
[25] S.J. Lederman and R.L. Klatzky, "Haptic Identification of Common Objects: Effects of Constraining the Manual Exploration Process," Perception & Psychophysics, vol. 66, no. 4, pp. 618-628, 2004.
16 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool