Results 1 -
7 of
7
Haptic display of contact location
- In: Proceedings of the International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS’04
, 2004
"... This work presents a new haptic device that integrates grounded point-force display with the presentation of con-tact location. The system centers around a fingertip mech-anism attached to the endpoint of a Phantom R robotic arm. The robot applies reaction forces to the user’s finger through a tact ..."
Abstract
-
Cited by 10 (6 self)
- Add to MetaCart
(Show Context)
This work presents a new haptic device that integrates grounded point-force display with the presentation of con-tact location. The system centers around a fingertip mech-anism attached to the endpoint of a Phantom R robotic arm. The robot applies reaction forces to the user’s finger through a tactile element, which can move along the length of the finger pad. Force and contact location are thus dis-played concurrently. During operation, the system contin-ually adjusts the position of the contact element based on finger motion and expected or actual contact locations. The finger is modeled as an arc segment, and the environment is represented by a series of lines and arcs. The haptic render-ing algorithm is driven by a virtual finger proxy, employing collision detection and collision anticipation. A series of human subject tests compared contact location feedback to standard force feedback. Subjects completed a contour fol-lowing task in less time and with fewer failures when con-tact location information was available. The system’s suc-cess indicates a simple yet promising new avenue for the design of haptic displays. 1
M.R.: Perception of curvature and object motion via contact location feedback
- 11th Int. Symp. on Robotics Research
, 2003
"... Abstract. We describe a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the changing location of a remote or virtual contact by moving a tactile element along the user’s fingertip. Mounted at the endpoint of a haptic mechanism, our thimble-sized devi ..."
Abstract
-
Cited by 10 (5 self)
- Add to MetaCart
(Show Context)
Abstract. We describe a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the changing location of a remote or virtual contact by moving a tactile element along the user’s fingertip. Mounted at the endpoint of a haptic mechanism, our thimble-sized device concurrently displays contact location and interaction forces. We believe such a design will enable more versatile object manipulation for haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature though direct manipulation of physical models and virtual manipulation with the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Second, we investigated virtual interactions with rolling and anchored objects and demonstrated that users can distinguish the interaction type using our device. These experiments provide insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic and virtual grasping tasks. 1
Display for Haptic Perception of Curvature and Object Motion
"... We present a new tactile display for use in dexterous telemanipu-lation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurr ..."
Abstract
- Add to MetaCart
We present a new tactile display for use in dexterous telemanipu-lation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual ex-periments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These ex-periments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks. KEYWORDS—tactile display, tactile feedback, contact loca-tion, encountered object, haptics, perception, curvature, hap-tic rendering
William R. Provancher
"... We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurre ..."
Abstract
- Add to MetaCart
We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These experiments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks. KEYWORDS—tactile display, tactile feedback, contact location, encountered object, haptics, perception, curvature, haptic rendering
Downloaded from
"... We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurre ..."
Abstract
- Add to MetaCart
We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are
Haptic Display of Contact Location
"... This work presents a new haptic device that integrates contact location feedback with grounded point-force dis-play. The system consists of a thimble-based mechanism at-tached to the endpoint of a Phantom R robotic arm. Contact location is rendered using a small tactile element that moves along the ..."
Abstract
- Add to MetaCart
(Show Context)
This work presents a new haptic device that integrates contact location feedback with grounded point-force dis-play. The system consists of a thimble-based mechanism at-tached to the endpoint of a Phantom R robotic arm. Contact location is rendered using a small tactile element that moves along the length of the user’s fingerpad. The Phantom R robot applies reaction forces to the user’s finger through this tactile element, bringing it into and out of contact with the user as required. Force and contact location are thus displayed concurrently. During operation, the system con-tinually adjusts the position of the contact element based on finger motion and expected or actual contact with the two-dimensional virtual environment. The finger is modeled as an arc segment, and the environment as a series of lines and arcs. Haptic rendering is driven by a virtual finger proxy, employing collision detection and collision anticipation al-gorithms. A series of human subject tests compared contact location feedback to standard force feedback. Subjects com-pleted a contour following task in less time and with fewer failures when contact location information was available. The system’s success indicates a simple yet promising new avenue for the design of haptic displays. 1
