scholarly journals Sense of Resistance for a Cursor Moved by User’s Keystrokes

2021 ◽  
Vol 12 ◽  
Author(s):  
Takahiro Kawabe ◽  
Yusuke Ujitoko ◽  
Takumi Yokosaka ◽  
Scinob Kuroki

Haptic sensation of a material can be modulated by its visual appearance. A technique that utilizes this visual-haptic interaction is called as pseudo-haptic feedback. Conventional studies have investigated pseudo-haptic feedback in situations, wherein a user manipulated a virtual object using a computer mouse, a force-feedback device, etc. The present study investigated whether and how it was possible to offer pseudo-haptic feedback to a user who manipulated a virtual object using keystrokes. Participants moved a cursor toward a destination by pressing a key. While the cursor was moving, the cursor was temporarily slowed down on a square area of the screen. The participants’ task was to report, on a five-point scale, how much resistance they felt to the cursor’s movement. In addition to the basic speed of the cursor, the ratio of the basic speed to the speed within the square area was varied. In Experiment 1, we found that these two factors interacted significantly with each other, but further analysis showed that the cursor speed within the square area was the most important determinant of perceived resistance. In Experiment 2, consistent with the results of the previous experiment, it was found that the cursor movement outside of the square area was not required to generate the sense of resistance. Counterintuitively, in Experiment 3, the sense of resistance was apparent even without user’s keystrokes. We discuss how the sense of resistance for a cursor moved by keystrokes can be triggered visually, but interpreted by the brain as a haptic impression.

2021 ◽  
Author(s):  
Takahiro Kawabe ◽  
Yusuke Ujitoko ◽  
Takumi Yokosaka ◽  
Scinob Kuroki

Haptic sensation of a material can be modulated by its visual appearance. A technique that utilizes this visual-haptic interaction is called pseudo-haptic feedback. Conventional studies have investigated pseudo-haptic feedback in situations wherein a user manipulated a virtual object using a computer mouse, a force-feedback device, etc. The present study investigated whether and how it was possible to offer pseudo-haptic feedback to a user who manipulated a virtual object using keystrokes. Participants moved a cursor toward a destination by pressing a key. While the cursor was moving, the cursor was temporarily slowed down on a square area of the screen. The participants' task was to report, on a 5-point scale, how much resistance they felt to the cursor's movement. In addition to the basic speed of the cursor, the ratio of the basic speed to the speed within the square area was varied. In Experiment 1, we found that these two factors interacted significantly with each other, but further analysis showed that the cursor speed within the square area was the most important determinant of perceived resistance. In Experiment 2, consistent with the results of the previous experiment, it was found that the cursor movement outside of the square area was not required to generate the sense of resistance. Counterintuitively, in Experiment 3, the sense of resistance was apparent even without user's keystrokes. We discuss how the sense of resistance for a cursor moved by keystrokes can be triggered visually, but interpreted by the brain as a haptic impression.


2019 ◽  
Vol 121 (4) ◽  
pp. 1398-1409 ◽  
Author(s):  
Vonne van Polanen ◽  
Robert Tibold ◽  
Atsuo Nuruki ◽  
Marco Davare

Lifting an object requires precise scaling of fingertip forces based on a prediction of object weight. At object contact, a series of tactile and visual events arise that need to be rapidly processed online to fine-tune the planned motor commands for lifting the object. The brain mechanisms underlying multisensory integration serially at transient sensorimotor events, a general feature of actions requiring hand-object interactions, are not yet understood. In this study we tested the relative weighting between haptic and visual signals when they are integrated online into the motor command. We used a new virtual reality setup to desynchronize visual feedback from haptics, which allowed us to probe the relative contribution of haptics and vision in driving participants’ movements when they grasped virtual objects simulated by two force-feedback robots. We found that visual delay changed the profile of fingertip force generation and led participants to perceive objects as heavier than when lifts were performed without visual delay. We further modeled the effect of vision on motor output by manipulating the extent to which delayed visual events could bias the force profile, which allowed us to determine the specific weighting the brain assigns to haptics and vision. Our results show for the first time how visuo-haptic integration is processed at discrete sensorimotor events for controlling object-lifting dynamics and further highlight the organization of multisensory signals online for controlling action and perception. NEW & NOTEWORTHY Dexterous hand movements require rapid integration of information from different senses, in particular touch and vision, at different key time points as movement unfolds. The relative weighting between vision and haptics for object manipulation is unknown. We used object lifting in virtual reality to desynchronize visual and haptic feedback and find out their relative weightings. Our findings shed light on how rapid multisensory integration is processed over a series of discrete sensorimotor control points.


1996 ◽  
Vol 5 (1) ◽  
pp. 95-108 ◽  
Author(s):  
Paul Richard ◽  
Georges Birebent ◽  
Philippe Coiffet ◽  
Grigore Burdea ◽  
Daniel Gomez ◽  
...  

Research on virtual environments (VE) produced significant advances in computer hardware (graphics boards and i/o tools) and software (real-time distributed simulations). However, fundamental questions remain about how user performance is affected by such factors as graphics refresh rate, resolution, control latencies, and multimodal feedback. This article reports on two experiments performed to examine dextrous manipulation of virtual objects. The first experiment studies the effect of graphics frame rate and viewing mode (monoscopic vs. stereoscopic) on the time required to grasp a moving target. The second experiment studies the effect of direct force feedback, pseudoforce feedback, and redundant force feedback on grasping force regulation. The trials were performed using a partially-immersive environment (graphics workstation and LCD glasses), a DataGlove, and the Rutgers Master with force feedback. Results of the first experiment indicate that stereoscopic viewing is beneficial for low refresh rates (it reduced task completion time by about 50% vs. monoscopic graphics). Results of the second experiment indicate that haptic feedback increases performance and reduces error rates, as compared to the open loop case (with no force feedback). The best performance was obtained when both direct haptic and redundant auditory feedback were provided to the user. The large number of subjects participating in these experiments (over 160 male and female) indicates good statistical significance for the above results.


2021 ◽  
Vol 11 (7) ◽  
pp. 2987
Author(s):  
Takumi Okumura ◽  
Yuichi Kurita

Image therapy, which creates illusions with a mirror and a head mount display, assists movement relearning in stroke patients. Mirror therapy presents the movement of the unaffected limb in a mirror, creating the illusion of movement of the affected limb. As the visual information of images cannot create a fully immersive experience, we propose a cross-modal strategy that supplements the image with sensual information. By interacting with the stimuli received from multiple sensory organs, the brain complements missing senses, and the patient experiences a different sense of motion. Our system generates the sense of stair-climbing in a subject walking on a level floor. The force sensation is presented by a pneumatic gel muscle (PGM). Based on motion analysis in a human lower-limb model and the characteristics of the force exerted by the PGM, we set the appropriate air pressure of the PGM. The effectiveness of the proposed system was evaluated by surface electromyography and a questionnaire. The experimental results showed that by synchronizing the force sensation with visual information, we could match the motor and perceived sensations at the muscle-activity level, enhancing the sense of stair-climbing. The experimental results showed that the visual condition significantly improved the illusion intensity during stair-climbing.


2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.


2018 ◽  
Vol 35 (2) ◽  
pp. 149-160 ◽  
Author(s):  
Mustufa H. Abidi ◽  
Abdulrahman M. Al-Ahmari ◽  
Ali Ahmad ◽  
Saber Darmoul ◽  
Wadea Ameen

AbstractThe design and verification of assembly operations is essential for planning product production operations. Recently, virtual prototyping has witnessed tremendous progress, and has reached a stage where current environments enable rich and multi-modal interaction between designers and models through stereoscopic visuals, surround sound, and haptic feedback. The benefits of building and using Virtual Reality (VR) models in assembly process verification are discussed in this paper. In this paper, we present the virtual assembly (VA) of an aircraft turbine engine. The assembly parts and sequences are explained using a virtual reality design system. The system enables stereoscopic visuals, surround sounds, and ample and intuitive interaction with developed models. A special software architecture is suggested to describe the assembly parts and assembly sequence in VR. A collision detection mechanism is employed that provides visual feedback to check the interference between components. The system is tested for virtual prototype and assembly sequencing of a turbine engine. We show that the developed system is comprehensive in terms of VR feedback mechanisms, which include visual, auditory, tactile, as well as force feedback. The system is shown to be effective and efficient for validating the design of assembly, part design, and operations planning.


2005 ◽  
Vol 128 (2) ◽  
pp. 216-226 ◽  
Author(s):  
M. A. Vitrani ◽  
J. Nikitczuk ◽  
G. Morel ◽  
C. Mavroidis ◽  
B. Weinberg

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.


IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 83673-83681 ◽  
Author(s):  
Jaeyoung Park ◽  
Ilhwan Han ◽  
Woochan Lee

Author(s):  
Jinling Wang ◽  
Wen F. Lu

Virtual reality technology plays an important role in the fields of product design, computer animation, medical simulation, cloth motion, and many others. Especially with the emergence of haptics technology, virtual simulation system provides an intuitive way of human and computer interaction, which allows user to feel and touch the virtual environment. For a real-time simulation system, a physically based deformable model including complex material properties with a high resolution is required. However, such deformable model hardly satisfies the update rate of interactive haptic rendering that exceeds 1 kHz. To tackle this challenge, a real-time volumetric model with haptic feedback is developed in this paper. This model, named as Adaptive S-chain model, extends the S-chain model and integrates the energy-based wave propagation method by the proposed adaptive re-mesh method to achieve realistic graphic and haptic deformation results. The implemented results show that the nonlinear, heterogeneous, anisotropic, shape retaining material properties and large range deformation are well modeled. An accurate force feedback is generated by the proposed Adaptive S-chain model in case study which is quite close to the experiment data.


Author(s):  
Avi Fisch ◽  
Jason Nikitczuk ◽  
Brian Weinberg ◽  
Juan Melli-Huber ◽  
Constantinos Mavroidis ◽  
...  

Force-feedback methanisms have been designed to simplify and enahance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. Haptic system, or systems that interact with the operator’s sense of touch, can be used to consolidate various controls into fever, haptic feedback control devices, so that information can be transmitted to the operator and the operator can change control settings without requiring the driver’s visual attention. In this paper an Electro-Rheological Fluid (ERF) based actuator and mechanisms are presented that provide haptic feedback. ERSs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, haptic devices have been developed that can resist human operator forces in a controlled and tunable fashion. The design of an ERF-based actuator and its application to a haptic knob and haptic joystick is presented. The analytical model is given, analyses are performed, and experimental systems and data are presented for the actuator. Conceptual methods for the application to the haptic devices are presented.


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