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.

scholarly journals Haptic Stylus and Empirical Studies on Braille, Button, and Texture Display

2008 ◽  
Vol 2008 ◽  
pp. 1-11 ◽  
Author(s):  
Ki-Uk Kyung ◽  
Jun-Young Lee ◽  
Junseok Park
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Empirical Studies ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Groove Width ◽  
Haptic Interface ◽  
Display Module ◽  
Feedback Display ◽  
Tactile Sensations

This paper presents a haptic stylus interface with a built-in compact tactile display module and an impact module as well as empirical studies on Braille, button, and texture display. We describe preliminary evaluations verifying the tactile display's performance indicating that it can satisfactorily represent Braille numbers for both the normal and the blind. In order to prove haptic feedback capability of the stylus, an experiment providing impact feedback mimicking the click of a button has been conducted. Since the developed device is small enough to be attached to a force feedback device, its applicability to combined force and tactile feedback display in a pen-held haptic device is also investigated. The handle of pen-held haptic interface was replaced by the pen-like interface to add tactile feedback capability to the device. Since the system provides combination of force, tactile and impact feedback, three haptic representation methods for texture display have been compared on surface with 3 texture groups which differ in direction, groove width, and shape. In addition, we evaluate its capacity to support touch screen operations by providing tactile sensations when a user rubs against an image displayed on a monitor.

scholarly journals Tactile display of softness on fingertip

2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Gabriele Frediani ◽  
Federico Carpi
Keyword(s):  
Real Life ◽  
Cost Effective ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Just Noticeable Difference ◽  
Tactile Displays ◽  
Low Weight ◽  
Digitally Controlled ◽  
Soft Objects ◽  
Psychophysical Tests

AbstractMulti-sensory human–machine interfaces are currently challenged by the lack of effective, comfortable and affordable actuation technologies for wearable tactile displays of softness in virtual- or augmented-reality environments. They should provide fingertips with tactile feedback mimicking the tactual feeling perceived while touching soft objects, for applications like virtual reality-based training, tele-rehabilitation, tele-manipulation, tele-presence, etc. Displaying a virtual softness on a fingertip requires the application of quasi-static (non-vibratory) forces via a deformable surface, to control both the contact area and the indentation depth of the skin. The state of the art does not offer wearable devices that can combine simple structure, low weight, low size and electrically safe operation. As a result, wearable softness displays are still missing for real-life uses. Here, we present a technology based on fingertip-mounted small deformable chambers, which weight about 3 g and are pneumatically driven by a compact and cost-effective unit. Weighting less than 400 g, the driving unit is easily portable and can be digitally controlled to stimulate up to three fingertips independently. Psychophysical tests proved ability to generate useful perceptions, with a Just Noticeable Difference characterised by a Weber constant of 0.15. The system was made of off-the-shelf materials and components, without any special manufacturing process, and is fully disclosed, providing schematics and lists of components. This was aimed at making it easily and freely usable, so as to turn tactile displays of softness on fingertips into a technology ‘at fingertips’.

scholarly journals Contribution of Visual vs. Haptic Perception to the Stability of Relative Phase in Coordinated Movement

2010 ◽  
Vol 3 (9) ◽  
pp. 262-262
Author(s):  
A. D Wilson ◽  
G. P Bingham ◽  
D. R Collins
Keyword(s):  
Haptic Perception ◽  
Relative Phase ◽  
The Stability

scholarly journals Detachable Robotic Grippers for Human-Robot Collaboration

2021 ◽  
Vol 8 ◽  
Author(s):  
Zubair Iqbal ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
Gionata Salvietti
Keyword(s):  
Degrees Of Freedom ◽  
Tactile Feedback ◽  
Industrial Robots ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Hands ◽  
End Effector ◽  
External Power ◽  
Self Powered ◽  
Automatic Tool

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

Tactile Feedback Induces Reduced Grasping Force in Robot-Assisted Surgery

2009 ◽  
Vol 2 (2) ◽  
pp. 103-110 ◽  
Author(s):  
C.-H. King ◽  
M.O. Culjat ◽  
M.L. Franco ◽  
C.E. Lewis ◽  
E.P. Dutson ◽  
...  
Keyword(s):  
Tactile Feedback ◽  
Robot Assisted ◽  
Grasping Force ◽  
Robot Assisted Surgery

Tactile Display for a Surface Texture Sensation

1997 ◽  
Author(s):  
Yasushi Ikei ◽  
Shuichi Fukuda
Keyword(s):  
Surface Texture ◽  
Research Work ◽  
Tactile Display ◽  
Just Noticeable Difference ◽  
Intensity Change ◽  
Future Research ◽  
Texture Element ◽  
Low Frequencies ◽  
Tactile Displays ◽  
Real Objects

Abstract The authors have developed tactile displays which have vibrating pins to convey the surface texture sensation of object surfaces to the user’s fingertip. The tactile sensation intensity scaling was performed to obtain a sensation scale of the display by means of the JND (just noticeable difference) method. One dimensional curves on the scale were displayed to investigate the human sensitivity to an intensity change rate. A tactile texture presentation method based on the image of an object surface is introduced. Two kinds of experiment were performed to discuss the feature of the method. Texture discrimination is the first one, in which the effect of texture element size to the correct separation was discussed. Then the sensations produced by the display and those by real objects were compared regarding several samples that had a major feature of vertical lines and of not containing low frequencies. The results are summarized, which is followed by the future research work.

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.

Multi-Mode Haptic Display of Image Based on Force and Vibration Tactile Feedback Integration

2020 ◽  
pp. 2154017
Author(s):  
Lei Tian ◽  
Aiguo Song ◽  
Dapeng Chen
Keyword(s):  
Haptic Perception ◽  
Haptic Feedback ◽  
Three Dimensional ◽  
Tactile Feedback ◽  
Geometric Shape ◽  
Haptic Display ◽  
Device Structure ◽  
Sense Of Reality ◽  
Integrated Device ◽  
Multi Mode

In order to enhance the sense of reality haptic display based on image, it is widely expected to express various characteristics of the objects in the image using different kinds of haptic feedback. To this end, a multi-mode haptic display method of image was proposed in this paper, including the multi-feature extraction of image and the image expression with various types of haptic rendering. First, the device structure integrating force and vibrotactile feedbacks was designed for multi-mode haptic display. Meanwhile, the three-dimensional geometric shape, detail texture and outline of the object in the image were extracted by various image processing algorithms. Then, a rendering method for the object in the image was proposed based on the psychophysical experiments on the piezoelectric ceramic actuator. The 3D geometric shape, detail texture and outline of the object were rendered by force and vibration tactile feedbacks, respectively. Finally, these three features of the image were haptic expressed simultaneously by the integrated device. Haptic perception experiment results show that the multi-mode haptic display method can effectively improve the authenticity of haptic perception.

scholarly journals An investigation of various actuation mechanisms in robot arm

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1299-1307 ◽  
Author(s):  
J Prakash ◽  
M Ilangkumaran
Keyword(s):  
Analytical Approach ◽  
Robot Arm ◽  
Force Analysis ◽  
Linkage Mechanism ◽  
Actuation Mechanism ◽  
Research Activities ◽  
Grasping Force ◽  
Object Shapes ◽  
End Effectors ◽  
Four Bar Linkage

Many research activities have been carried out to develop a simple mechanism for grasping irregular object shapes using two- or three-fingered robot end effectors. The idea behind this work is to develop three-fingered intelligent grippers that are capable of sensing different factors like weight, effort required, compactness, robustness, and stability of the object held during the manipulations. In this paper, five different actuation mechanisms, namely, edge-cam-operated actuation mechanism, toggle-linkage-based actuation mechanism, wedge-cam-operated gripper, sliding slotted pin–ball joint arrangement, and rack-and-pinion-operated four-bar linkage mechanism, are introduced. The actuation and grasping force of the gripper are to be determined using the analytical approach (static force analysis). Finally, the effective intelligent gripper mechanism is identified based on grasping force for grasping 1 kg weight of a prespecified object.

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