Conference Proceeding

Integrating Tactile and Force Feedback with Finite Element Models.

01/2005; In proceeding of: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain
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    Article: On the Design of Miniature Haptic Devices for Upper Extremity Prosthetics
    Keehoon Kim, J.E. Colgate, J.J. Santos-Munne, A. Makhlin, M.A. Peshkin
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    ABSTRACT: We have developed three different versions of a multifunction haptic device that can display touch, pressure, vibration, shear force, and temperature to the skin of an upper extremity amputee, especially the one who has undergone targeted nerve reinnervation (TR) surgery. In TR patients, sensation from the reinnervated skin is projected to the missing hand. This paper addresses the design of the mechanical display, the portion responsible for contact, pressure, vibration, and shear force. A variety of different overall design approaches satisfying the design specifications and the performance requirements are considered. The designs of the fully prototyped haptic devices are compared through open-loop frequency response, closed-loop force response, and tapping response in constrained motion. We emphasize the tradeoffs between key design factors, including force capability, workspace, size, bandwidth, weight, and mechanism complexity.
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    Conference Proceeding: Electrotactile Display for Integration with Kinesthetic Display
    K. Sato, H. Kajimoto, N. Kawakami, S. Tachi
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    ABSTRACT: The goal of this study is to develop a haptic interface for dexterous manipulation. To achieve this, we proposed electrotactile-kinesthetic integration. Our electrotactile display presents natural touch sensations of objects. In addition, this display is so small that it is considered to not affect the moving range of fingers. The haptic interface for dexterous manipulation is realized by mounting it on a kinesthetic display having a wide workspace. The electrotactile display on the integrated haptic interface is used actively. Therefore, we actively evaluated the performances of the electrotactile display on the single-fingered prototype system. The results revealed the present performance of the system. Subsequently, it also shows the possibility of further improving of the haptic interface by devising an electrotactile rendering method.
    Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on; 09/2007
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    Conference Proceeding: The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction
    K.J. Kuchenbecker, D. Ferguson, M. Kutzer, M. Moses, A.M. Okamura
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    ABSTRACT: Touching a real object with your fingertip provides simultaneous tactile and force feedback, yet most haptic interfaces for virtual environments can convey only one of these two essential modalities. To address this opportunity, we designed, prototyped, and evaluated the Touch Thimble, a new fingertip device that provides the user with the cutaneous sensation of making and breaking contact with virtual surfaces. Designed to attach to the endpoint of an impedance-type haptic interface like a SensAble Phantom, the Touch Thimble includes a slightly oversize cup that is suspended around the fingertip by passive springs. When the haptic interface applies contact forces from the virtual environment, the springs deflect to allow contact between the user's fingertip and the inner surface of the cup. We evaluated a prototype Touch Thimble against a standard thimble in a formal user study and found that it did not improve nor degrade subjects' ability to recognize smoothly curving surfaces. Although four of the eight subjects preferred it to the standard interface, overall the Touch Thimble made subjects slightly slower at recognizing the presented shapes. Detailed subject comments point out strengths and weaknesses of the current design and suggest avenues for future development of the device.
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