Actuator Array for Display of Distributed Tactile Information: Design and Preliminary Experiments

2000 ◽  
Author(s):  
Peter Kammermeier ◽  
Martin Buss ◽  
Günther Schmidt
Keyword(s):  
Dynamic Interaction ◽  
Information Design ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Parameter Estimates ◽  
Shape Information ◽  
Tactile Information ◽  
Kinesthetic Feedback ◽  
Actuator Design ◽  
Dynamic Shape

Abstract In this paper we present the design of a new tactile actuator array for the display of distributed tactile dynamic shape information in telepresence and Virtual Environment (VE) applications. In actuator design we focussed on high pin forces and a bandwidth sufficient for most one-fingered tactile shape exploration tasks performed by dynamic interaction. As a result, the overall device dimensions currently prohibit its attachment to the effector of typical kinesthetic feedback devices. Experimental results are presented using the prototype in a finger-on-conveyer-belt scenario with objects moving relative to a resting fingertip. Experiments showed that the dynamic tactile display enabled probands to give parameter estimates of displayed objects with an accuracy exceeding the pin resolution of the tactile feedback device.

Multi-channel Tactile Feedback Based on User Finger Speed

2021 ◽  
Vol 5 (ISS) ◽  
pp. 1-17
Author(s):  
Yosra Rekik ◽  
Edward Lank ◽  
Adnane Guettaf ◽  
Prof. Laurent Grisoni
Keyword(s):  
Channel Selection ◽  
Tactile Feedback ◽  
Interactive Systems ◽  
Controlled Experiment ◽  
Tactile Information ◽  
Tactile Interfaces

Alongside vision and sound, hardware systems can be readily designed to support various forms of tactile feedback; however, while a significant body of work has explored enriching visual and auditory communication with interactive systems, tactile information has not received the same level of attention. In this work, we explore increasing the expressivity of tactile feedback by allowing the user to dynamically select between several channels of tactile feedback using variations in finger speed. In a controlled experiment, we show that a user can learn the dynamics of eyes-free tactile channel selection among different channels, and can reliable discriminate between different tactile patterns during multi-channel selection with an accuracy up to 90% when using two finger speed levels. We discuss the implications of this work for richer, more interactive tactile interfaces.

scholarly journals Bilaterally Shared Haptic Perception for Human-Robot Collaboration in Grasping Operation

2021 ◽  
Vol 33 (5) ◽  
pp. 1104-1116
Author(s):  
Yoshihiro Tanaka ◽  
Shogo Shiraki ◽  
Kazuki Katayama ◽  
Kouta Minamizawa ◽  
Domenico Prattichizzo ◽  
...  
Keyword(s):  
Haptic Perception ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Just Noticeable Difference ◽  
Robot Arm ◽  
Collaborative Task ◽  
Grasping Force ◽  
The Stability ◽  
Tactile Sensations ◽  
Human Robot Collaboration

Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a finger-attached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.

Design, modeling, and evaluation of a slim haptic actuator based on electrorheological fluid

2019 ◽  
Vol 30 (17) ◽  
pp. 2521-2533 ◽  
Author(s):  
Alex Mazursky ◽  
Jeong-Hoi Koo ◽  
Tae-Heon Yang
Keyword(s):  
Electric Fields ◽  
Printed Circuit Board ◽  
Haptic Feedback ◽  
Electrorheological Fluid ◽  
Tactile Feedback ◽  
Circuit Board ◽  
Just Noticeable Difference ◽  
Elastic Membrane ◽  
Kinesthetic Feedback ◽  
Control Electronics

Realistic haptic feedback is needed to provide information to users of numerous technologies, such as virtual reality, mobile devices, and robotics. For a device to convey realistic haptic feedback, two touch sensations must be present: tactile feedback and kinesthetic feedback. Although many devices today convey tactile feedback through vibrations, most neglect to incorporate kinesthetic feedback. To address this issue, this study investigates a haptic device with the aim of conveying both kinesthetic and vibrotactile information to users. A prototype based on electrorheological fluids was designed and fabricated. By controlling the electrorheological fluid flow via applied electric fields, the device can generate a range of haptic sensations. The design centered on an elastic membrane that acts as the actuator’s contact surface. Moreover, the control electronics and structural components were integrated into a compact printed circuit board, resulting in a slim device suitable for mobile applications. The device was tested using a dynamic mechanical analyzer to evaluate its performance. The device design was supported with mathematical modeling and was in agreement with experimental results. According to the just-noticeable difference analysis, this range is sufficient to transmit distinct kinesthetic and vibrotactile sensations to users, indicating that the electrorheological fluid–based actuator is capable of conveying haptic feedback.

scholarly journals A closed-loop hand prosthesis with simultaneous intraneural tactile and position feedback

2019 ◽  
Vol 4 (27) ◽  
pp. eaau8892 ◽  
Author(s):  
Edoardo D’Anna ◽  
Giacomo Valle ◽  
Alberto Mazzoni ◽  
Ivo Strauss ◽  
Francesco Iberite ◽  
...  
Keyword(s):  
Visual Cues ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Tactile Information ◽  
Position Information ◽  
Implanted Electrodes ◽  
Myoelectric Prostheses ◽  
Position Feedback ◽  
The Rich ◽  
Improved Function

Current myoelectric prostheses allow transradial amputees to regain voluntary motor control of their artificial limb by exploiting residual muscle function in the forearm. However, the overreliance on visual cues resulting from a lack of sensory feedback is a common complaint. Recently, several groups have provided tactile feedback in upper limb amputees using implanted electrodes, surface nerve stimulation, or sensory substitution. These approaches have led to improved function and prosthesis embodiment. Nevertheless, the provided information remains limited to a subset of the rich sensory cues available to healthy individuals. More specifically, proprioception, the sense of limb position and movement, is predominantly absent from current systems. Here, we show that sensory substitution based on intraneural stimulation can deliver position feedback in real time and in conjunction with somatotopic tactile feedback. This approach allowed two transradial amputees to regain high and close-to-natural remapped proprioceptive acuity, with a median joint angle reproduction precision of 9.1° and a median threshold to detection of passive movements of 9.5°, which was comparable with results obtained in healthy participants. The simultaneous delivery of position information and somatotopic tactile feedback allowed both amputees to discriminate the size and compliance of four objects with high levels of performance (75.5%). These results demonstrate that tactile information delivered via somatotopic neural stimulation and position information delivered via sensory substitution can be exploited simultaneously and efficiently by transradial amputees. This study paves a way to more sophisticated bidirectional bionic limbs conveying richer, multimodal sensations.

Multimodal Mouse: A Mouse-Type Device with Tactile and Force Display

1994 ◽  
Vol 3 (1) ◽  
pp. 73-80 ◽  
Author(s):  
Motoyuki Akamatsu ◽  
Sigeru Sato ◽  
I. Scott MacKenzie
Keyword(s):  
Force Feedback ◽  
Target Selection ◽  
Feedback Condition ◽  
Tactile Feedback ◽  
Information Feedback ◽  
Mouse Button ◽  
Tactile Information ◽  
Type Device ◽  
Speed Up ◽  
Additional Feedback

A mouse was modified to add tactile and force display. Tactile feedback, or display, was added via a solenoid driving a small pin protruding through a hole in the mouse button. Force feedback was added via an electromagnet and an iron mouse pad. Both enhancements were embedded in the mouse casing, increasing its weight from 103 to 148 g. In a target selection task experiment, the addition of tactile information feedback reduced target selection times slightly, compared to the no additional feedback condition. A more pronounced effect was observed on the clicking time—the time to selection once the cursor entered the target. In this case, we observed a statistically significant speed-up of about 12% in the presence of tactile feedback. The modified mouse was also used in a test of virtual texture. The amplitude and frequency of solenoid pulses were varied according to the movement of the mouse and the underlying virtual texture. Subjects could reliably discriminate between different textures.

scholarly journals Optimization of a Piezoelectric Bending Actuator for a Tactile Virtual Reality Display

2015 ◽  
Vol 2 (3-4) ◽  
pp. 177-185
Author(s):  
Viktor Hofmann ◽  
Jens Twiefel
Keyword(s):  
Beam Theory ◽  
Normal Direction ◽  
Tactile Display ◽  
Rotational Degree ◽  
Shear Forces ◽  
Display Design ◽  
Bending Actuator ◽  
High Dynamic ◽  
Actuator Design ◽  
Method Model

Abstract The excitation of mechanoreceptors in the finger with different frequencies and intensities generates a tactile impression. For the experience of a complete surface many distributed sources are needed in the tactile display. For these local stimulations of the finger several piezoelectric bending actuators will be arranged in an array perpendicular to the skin. The challenge in the system design is to transfer high dynamic shear forces to the skin at required frequencies together with a compact display design. In order to estimate the dynamic behavior of the bending actuators a transfer matrix method model based on the Timoshenko beam theory is derived. Beside the outer geometric values, the layered structure of the actuator is included in the model. In addition the influence of the load on the actuator’s tip in lateral and in normal direction as well as on the rotational degree of freedom is taken into account. Using the analytical approach, a parametric study is carried out to find an optimized actuator design for the display. For the validation, the modeled beam is compared with experimental data.

Information Inspirations

2020 ◽  
pp. 38-78
Author(s):  
André Brock
Keyword(s):  
Information Content ◽  
Black Identity ◽  
Information Design ◽  
Online Information ◽  
Digital Identity ◽  
Online Services ◽  
Web Browser ◽  
Shape Information ◽  
Digital Artifact ◽  
The Web

Taking a step backward from overt digital practices, this chapter looks at a digital artifact so widely used that it has become communicative infrastructure: the web browser. Its framing of our entire online information content and practice shapes digital identity through interactions with online services, while its customizability encourages perceptions of individual, rather than social, technocultural identity. This chapter looks at the Blackbird browser, specifically targeted to Black users, to unpack how browsers can shape Black identity from a technocultural framework. While digital interfaces are so mutable that they encourage beliefs of universalism and individualization, this chapter argues that racial digital practices can and do shape information design and behaviors.

An Electrorheological Tactile Display

1992 ◽  
Vol 1 (2) ◽  
pp. 219-228 ◽  
Author(s):  
G. J. Monkman
Keyword(s):  
Virtual Reality ◽  
Space Exploration ◽  
Aerospace Industry ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Electrorheological Fluids ◽  
Surface Topology ◽  
Design Parameters ◽  
Pilot Training ◽  
Time Varying

In addition to force and torque reflection, teleoperation also requires a degree of tactile feedback. This is particularly important where knowledge of a surface topology is desired, such as might be encountered by an underwater or space exploration vehicle. Similarly, the aerospace industry is presently developing ever increasingly sophisticated virtual reality environments for pilot training. It is felt that, in addition to visual, audio, and torque feedback, some form of tactile feedback would be useful. This paper presents a means by which electrorheological fluids may be used to provide a relatively high resolution tactile display containing virtually no moving parts. Design parameters are outlined and an example of a working model is shown. The extension of this and similar technology to the display of rapidly time varying tactile images is also discussed.

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