Yuru Zhang

Yuru Zhang
Beihang University (BUAA) | BUAA · School of Mechanical Engineering and Automation

PhD

About

206
Publications
37,181
Reads
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2,033
Citations
Citations since 2016
53 Research Items
1246 Citations
2016201720182019202020212022050100150200250
2016201720182019202020212022050100150200250
2016201720182019202020212022050100150200250
2016201720182019202020212022050100150200250

Publications

Publications (206)
Article
Full-text available
Interacting with virtual objects via haptic feedback using the user's hand directly (virtual hand haptic interaction) provides a natural and immersive way to explore the virtual world. It remains a challenging topic to achieve 1 kHz stable virtual hand haptic simulation with no penetration amid hundreds of hand-object contacts. In this paper, we ad...
Article
Full-text available
Objective. Investigating how to promote the functional activation of the central sensorimotor system is an important goal in the neurorehabilitation research domain. We aim to validate the effectiveness of facilitating cortical excitability using a closed-loop visuomotor task, in which the task difficulty is adaptively adjusted based on an individu...
Article
Pulse palpation is an important procedure that allows a physician to rapidly assess the status of a patients cardiovascular system. This paper explores the possibility of using vibrotactile stimuli to render fine temporal profiles of pulse pressure waves. A lightweight wearable vibrotactile glove, called Hap-pulse, is designed to render fine pulse...
Article
Tactile devices composed of tactile pixels enable dynamic formulation of surface morphological features. It however remains a challenge for soft tactile devices to reliably achieve low-power control of each tactile pixel while maintaining high spatial resolution. In this paper, we proposed a novel pull-push latch structure and developed a programma...
Article
Tactile devices provide an intuitive way for texture display, which allows users to perceive the detailed surface properties of virtual or remote objects. For existing tactile devices that create actual topographical transformations, it remains challenging to render surface textures with high spatial resolution due to the limitation of the size of...
Article
Full-text available
Force feedback gloves allow users to touch and manipulate virtual objects intuitively. Compared with gloves providing active feedback force, gloves with passive feedback force are promising in terms of safety and low weight, but simulating the variable stiffness of virtual objects is more challenging. Addressing this difficulty, we propose a five-f...
Article
Objective: Despite converging neuroimaging studies investigating how neural activity is modulated by various motor related factors, such as movement velocity and force magnitude, little has been devoted to identifying the effect of force accuracy. This study thus aimed to investigate the effect of task difficulty on cortical neural responses when...
Article
Full-text available
The neurophysiological characteristics of sustained attention states are unclear in discrete multi-finger force control tasks. In this study, we developed an immersive visuo-haptic task for conducting stimulus-response measurements. Visual cues were randomly provided to signify the required amplitude and tolerance of fingertip force. Participants w...
Article
Force feedback gloves are promising for producing immersive haptic sensations in virtual reality systems or for intuitive control of remote robots in dexterous manipulation tasks. Existing gloves mainly adopt rigid actuators. In this paper, we propose a force feedback glove using pneumatically powered fiber-reinforced soft bending actuators. Based...
Article
Full-text available
Motor skill learning of dental implantation surgery is difficult for novices because it involves fine manipulation of different dental tools to fulfill a strictly pre-defined procedure. Haptics-enabled virtual reality training systems provide a promising tool for surgical skill learning. In this paper, we introduce a haptic rendering algorithm for...
Article
Multi-dimensions tactile displays, such as thermal and texture display, are desirable for enhancing perception while users experience virtual shopping such as touching a garment in virtual reality. Understanding the effect of one dimension on the other is fundamental for design of multi-dimensions tactile display. In this paper, we report the effec...
Article
Sustained attention is essential in the daily human activities of perception, manipulation, and locomotion. An improvement in sustained attention exhibits potential impacts in several scenarios, including the treatment of mental disorders, such as the attention-deficit/hyperactivity disorder, and the training of certain professionals, such as aircr...
Article
Achieving high stiffness and low inertia is a big challenge for current haptic devices. Impedance-based devices are limited in providing high stiffness while, in contrast, admittance-based devices are limited in generating low inertia. Thus, it is difficult to simulate hard contact and small inertia simultaneously in virtual environments. In this p...
Article
Full-text available
Quantifiable differences among fingers in force control capability have both important practical and theoretical values in characterizing force control of accurate finger-tapping tasks. Following the classical Fitts' law paradigm, we quantified the differences among ten fingers in term of speed-accuracy trade-off (SAT) in performing repetitive disc...
Article
Full-text available
While action video games have been shown effective for training attention, little research has explored how to effectively utilize haptic interaction in these games for attention modulation and training. In this paper, we introduce a visuo-haptic game combining fingertip force control with an immersive visual display. In the proposed stimulus-react...
Chapter
This paper presents a tactile device for displaying surface texture of flexible virtual objects. The texture is simulated using electrovibration effect produced by a flexible film. The deformation of the film is controlled by a DC motor to generate desired softness according to applied finger force. A prototype of the device is developed and integr...
Article
Full-text available
Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral...
Article
Force feedback gloves have great potential in enhancing the fidelity of virtual reality and tele-operation systems. It is a challenge to develop multi-finger force feedback gloves with light weight. In this paper, we propose a solution using layer jamming sheet (LJS) on each finger joint. In simulating free space, the LJS is soft and easy to deform...
Article
Electrovibration has become one of the promising approaches for adding tactile feedback on touchscreen. Previous studies revealed that the normal force applied on the touchscreen by the finger affects significantly the electrostatic force. It is obvious that the normal force affects the electrostatic force if it changes the contact area between the...
Article
Full-text available
Mind wandering happens when one train of thought, related to a current undertaking, is interrupted by unrelated thoughts. The detection and evaluation of mind wandering can greatly help in understanding the attention control mechanism during certain focal tasks. Subjective assessments such as random thought-probe and spontaneous self-report are the...
Article
Full-text available
A wearable force-feedback glove is a promising way to enhance the immersive sensation when a user interacts with virtual objects in virtual reality scenarios. Design challenges for such a glove include allowing a large fingertip workspace, providing a desired force sensation when simulating both free- and constrained-space interactions, and ensurin...
Article
Designing algorithms for rendering haptic texture on electrostatic tactile displays requires a quantitative understanding of human perception. In this paper, we report detection and discrimination thresholds for haptic gratings rendered on such displays based on the waveform and amplitude of the applied voltage. The haptic gratings consist of funct...
Chapter
Electrovibration has been used to render the surface texture on tactile devices. To understand how the rendering performance is related to the normal force applied to the surface of the device by a finger, we investigated the influence of the applied normal force on electrovibration perception magnitude. We conducted a magnitude estimation experime...
Article
In robot hand teleoperation system, force feedback is critical for operator to perceive the physical property of grasped objects. However, it is challenging to implement accurate force feedback if the force accuracy of a haptic device is limited. This paper proposes a variable motion mapping method to enhance stiffness discrimination of the remote...
Chapter
In this paper, we propose a new parallel mechanism designed for haptic interface. The haptic device consists of a 2RSS + RRR parallel mechanism with 3 degrees of freedom. In general, the control of haptic devices requires a high servo rate up to 1 kHz which demands a fast and real-time solution to the forward kinematics. Newton–Raphson method is on...
Article
Fitts’ law has been widely used in the human-computer interaction (HCI) field, especially for Graphical User Interface (GUI) design. However, most studies on Fitts’ law were performed with motion control tasks under visual feedback while only a few endeavor to measure human force control behavior. How quickly humans can exert a constant force with...
Article
Recently, many studies examined electrostatic tactile feedback on touch screens to enrich interaction experience. However, it is unclear as to whether added tactile feedback during a sliding process increases the accuracy of pan gestures with velocity constraints. In this study, a custom-designed electrostatic tactile display was considered. Initia...
Article
Full-text available
To present information using vibrotactile stimuli in wearable devices, it is fundamental to understand human performance of localizing vibrotactile cues across the skin surface. In this paper, we studied human ability to identify locations of multiple vibrotactile cues activated simultaneously on both arms. Two haptic bands were mounted in proximit...
Article
Six degree-of-freedom (DoF) haptic rendering of multi-region contacts between a moving hand avatar and varied-shaped components of a music instrument is fundamental to realizing interactive simulation of music playing. There are two aspects of computational challenges: first, some components have significantly small sizes in some dimensions, such a...
Chapter
The force/moment capability of cable driven parallel mechanisms is characterized by force/moment polytopes resulting from a linear transformation between the space of cable tension and the space of the force/moment of the moving platform. Conventional method developed in computational geometry has been used to identify the vertices and faces of the...
Conference Paper
Full-text available
Presenting time accurately with a high resolution using haptic modality on the wrist is a challenging task. In this paper, we present a novel spatial-temporal vibrotactile encoding strategy using 4 motors for presenting time. The hours and minutes were presented using vibrotactile stimuli with a resolution of 5 minutes. The hours were presented by...
Conference Paper
Achieving high stiffness, low inertia and friction is a big challenge in the design of a haptic device. Admittance display is a common solution to obtain high stiffness but is difficult to achieve low inertia and friction. We describe a new concept of co-actuation to overcome this difficulty. The co-actuation approach disconnects the actuators and...
Conference Paper
Attention training using virtual environments is a promising way to treat mental disorders such as attention-deficit hyperactivity disorder (ADHD). Interactive haptic tasks combined with immersive visual display provide a potential solution for attention modulation and training. In this paper, we introduced a visuo-haptic game consisting of stimulu...
Article
The ability to precisely produce a force via a hand-held tool is crucial in fine manipulations. In this paper, we study the error in maintaining a target force ranging from 0.5N to 5N under two concurrent feedback conditions: pure haptic feedback (H), and visual plus haptic feedback (V+H). The results show that absolute error (AE) increases along w...
Article
Haptic simulation of handling pathological tissues is a crucial component to enhance virtual surgical training systems. In this paper, we introduce a configuration-based optimization approach to simulate the exploration and diagnosis of carious tissues in dental operations. To simulate the six Degree-of-Freedom (6DoF) haptic interaction between the...
Article
Full-text available
Brainwave entrainment using rhythmic visual and/or auditory stimulation has shown its efficacy in modulating neural activities and cognitive ability. In the presented study, we aim to investigate whether rhythmic haptic stimulation could enhance short-term attention. An experiment with sensorimotor rhythm (SMR) increasing protocol was performed in...
Article
Model of motor skill pattern is a fundamental component to support feedback mechanism in haptic-assisted motor skill training. Because of the diversity of manipulation tasks in real world, it is a challenge to construct a generic model for various motor skill patterns. Considering fine motor skill mediated by a rigid tool, criteria for a general mo...
Article
Full-text available
Tactile interfaces are intuitive but lack of haptic feedback. One method to provide tactile feedback is to change the friction coefficient of the touch surface. Several small-size tactile devices have been developed to provide programmable friction coefficient based on the squeeze air film effect. This effect is produced by ultrasonic vibration of...
Article
Full-text available
To evaluate the fidelity of the iDental system and investigate its utility and performance on simulated drilling operations, user studies consisting of objective and subjective evaluations were performed. A voxel-based drilling simulation sub-system in the iDental system was employed for evaluation. Twenty participants were enrolled to take part in...
Article
Tooth extraction is a typical process in clinical dental operations. Interactive haptic simulation of tooth extraction may provide a useful tool for dental students to learn the correct force pattern and tool posture to accomplish a safe tooth extraction. In this paper, we extended our previous configuration-based optimization approach to simulate...
Conference Paper
Controlling absolute magnitudes of fingertip force is an important skill in many haptic interactions such as surgical operations and mechanical assemblies. A fundamental question in the force control is how quickly human can output a target force with expected accuracy. In this paper, human's capability to control absolute magnitudes of fingertip f...
Article
Full-text available
This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of highfrequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic dev...
Article
Full-text available
It is a challenging problem to achieve six degree-of-freedom (DoF) haptic simulation of subtle force feelings caused by contacts at sharp geometric features in multi-region contact scenarios. We design a novel sphere-tree model for objects with sharp features and use a configuration-based optimization method to compute feedback force and torque. Gi...
Article
The existing methods in dental clinical operations for hard tissue removal have several drawbacks which affect the long-term success of the dental treatment. In this paper, we introduce a miniature robotic device called LaserBot, which can manipulate a femtosecond laser beam to drill/burr a decayed tooth to realize clinical tooth crown preparation....
Book
Full-text available
This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requir...
Chapter
In this chapter, the configuration-based optimization approach for 6-DoF haptic simulation is extended to handle deformable objects and hybrid contacts. In Sect. 4.1, we introduce the problem and related work for haptic rendering of deformable objects. In Sect. 4.2, we provide an overview of the approach. In Sect. 4.3, we introduce the extended sph...
Chapter
Performance evaluation of haptic rendering algorithms is an important topic for measuring the fidelity of haptic simulation. In this chapter, we first briefly survey the progress in this field and then introduce a measurement-based method to evaluate the accuracy of different 6-DoF haptic rendering algorithms in interactions involving multi-region...
Chapter
6-DoF haptic rendering for fine manipulation in narrow space is a challenging topic. This is due to frequent constraint changes caused by small tool movement and the need to preserve the corresponding force feeling when the tool interacts with fine features of an object.
Chapter
To tackle computational challenges in 6-DoF haptic rendering of fine manipulation, in this book we present a novel constraint-based approach: the configuration-based optimization approach. In this chapter, we introduce the basics of the configuration-based optimization approach to 6-DoF haptic rendering of rigid body in contact.
Chapter
In this chapter, we introduce haptic rendering for simulation of fine features, including subtle force feeling caused by contacts at sharp geometric features and manipulation of small-sized objects such as dental calculi.