Rendering Softness: Integration of Kinesthetic and Cutaneous Information in a Haptic Device.
ABSTRACT 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.
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ABSTRACT: In this paper, we present a haptic feedback method for a virtual button based on the force-displacement curves of a physical button. The original feature of the proposed method is that it provides haptic feedback, not only for the "click" sensation but also for the moving sensation before and after transition points in a force-displacement curve. The haptic feedback is by vibrotactile stimulations only and does not require a force feedback mechanism. We conducted user experiments to show that the resultant haptic feedback is realistic and distinctive. Participants were able to distinguish among six different virtual buttons, with 94.1% accuracy even in a noisy environment. In addition, participants were able to associate four virtual buttons with their physical counterparts, with a correct answer rate of 79.2%.Proceedings of the 26th annual ACM symposium on User interface software and technology; 10/2013
- IEEE Transactions on Haptics 05/2014; · 1.39 Impact Factor
Conference Paper: Strain limiting for soft finger contact simulation[Show abstract] [Hide abstract]
ABSTRACT: The command of haptic devices for rendering direct interaction with the hand requires thorough knowledge of the forces and deformations caused by contact interactions on the fingers. In this paper, we propose an algorithm to simulate nonlinear elasticity under frictional contact, with the goal of establishing a model-based strategy to command haptic devices and to render direct hand interaction. The key novelty in our algorithm is an approach to model the extremely nonlinear elasticity of finger skin and flesh using strain-limiting constraints, which are seamlessly combined with frictional contact constraints in a standard constrained dynamics solver. We show that our approach enables haptic rendering of rich and compelling deformations of the fingertip.World Haptics Conference (WHC), 2013; 01/2013