Conference Paper

A Wearable Haptic Display to Present the Gravity Sensation - Preliminary Observations and Device Design.

DOI: 10.1109/WHC.2007.15 Conference: Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC 2007), 22-24 March 2007, Tsukuba, Japan
Source: DBLP


We propose a wearable ungrounded haptic display that presents a realistic gravity sensation of a virtual object. We focused on the shearing stress on the fingerpads due to the weight of the object, and found that the deformation of the fingerpads can generate a reliable gravity sensation even when proprioceptive sensation on the wrist or arm is absent. This implies that an ungrounded gravity display can be realized by reproducing fingerpad deformation. Based on our observations, we conducted evaluation tests for the device design. We first implemented the prototype device, which has a simple structure comprising dual motors, and then evaluated the recognition ability of the gravity sensation presented on the operator's finger by this method.

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    • "The literature on cutaneous technologies is quite rich, but most of the proposed devices are not suitable to be used while operating with a grounded haptic device. A suitable interface has been developed in [29], where the authors presented a wearable and portable ungrounded haptic display that applies cutaneous forces to simulate the weight of virtual objects. It consists of two motors that move a belt in contact with the fingertip. "
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    ABSTRACT: We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.
    07/2015; DOI:10.1109/TOH.2015.2457927
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    • "There are in fact no workspace restrictions apart from the ones related to the gesture recognition technique. A further investigation is required to compare the performance, in terms of telepresence and user experience, between 1-DoF cutaneous displays (as used here) with respect to 2-DoF and 3-DoF devices (as in [1], [2], [3]). Moreover, we are planning to improve the design of our cutaneous displays by adding a vibrotactile actuator, that will be in charge of rendering additional features, such as the object's texture. "

    World Haptics; 01/2015
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    • "They found that the average applied grip force decreased when force feedback of the grip was provided, but was not significantly affected by translational force feedback. Other studies have focused on the effect of tactile feedback, rather than force feedback, on grip force control [22], [23], [24], [25]. King et al. [22] developed a balloon tactile display to mount on the da Vinci Surgical "
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    ABSTRACT: When grasping and manipulating objects, people are able to efficiently modulate their grip force according to the experienced load force. Effective grip force control involves providing enough grip force to prevent the object from slipping, while avoiding excessive force to avoid damage and fatigue. During indirect object manipulation via teleoperation systems or in virtual environments, users often receive limited somatosensory feedback about objects with which they interact. This study examines the effects of force feedback, accuracy demands, and training on grip force control during object interaction in a virtual environment. The task required subjects to grasp and move a virtual object while tracking a target. When force feedback was not provided, subjects failed to couple grip and load force, a capability fundamental to direct object interaction. Subjects also exerted larger grip force without force feedback and when accuracy demands of the tracking task were high. In addition, the presence or absence of force feedback during training affected subsequent performance, even when the feedback condition was switched. Subjects' grip force control remained reminiscent of their employed grip during the initial training. These results motivate the use of force feedback during telemanipulation and highlight the effect of force feedback during training.
    IEEE Transactions on Haptics 03/2014; 7(1):37-47. DOI:10.1109/TOH.2013.60 · 1.41 Impact Factor
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