scholarly journals Design and Experimental Evaluation of an Electrorheological Haptic Module with Embedded Sensing

2021 ◽  
Vol 11 (16) ◽  
pp. 7723
Author(s):  
Alex Mazursky ◽  
Jeong-Hoi Koo ◽  
Taylor Mason ◽  
Sam-Yong Woo ◽  
Tae-Heon Yang
Keyword(s):  
Active Control ◽  
Experimental Evaluation ◽  
Haptic Feedback ◽  
Electrorheological Fluid ◽  
Tactile Feedback ◽  
Small Scale ◽  
Resistive Force ◽  
Resistive Film ◽  
Embedded Sensing ◽  
Sensor Module

We present a miniature haptic module based on electrorheological fluid, designed for conveying combined stiffness and vibrotactile sensations at a small scale. Haptic feedback is produced through electrorheological fluid’s controllable resistive force and varies with the actuator’s deformation. To demonstrate the proposed actuator’s feedback in realistic applications, a method for measuring the actuator’s deformation must be implemented for active control. To this end, in this study, we incorporate a sensor design based on a bend-sensitive resistive film to the ER haptic actuator. The combined actuator and sensor module was tested for its ability to simultaneously actuate and sense the actuator’s state under indentation. The results show that the bend sensor can accurately track the actuator’s displacement over its stroke. Thus, the proposed sensor may enable control of the output resistive force according to displacement, which may lead to more informed and engaging combined kinesthetic and tactile feedback.

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 Non-inferiority test for a continuous variable with a flexible margin in an active controlled trial : An application to the "Stratall ANRS 12110 / ESTHER" trial

2020 ◽  
Author(s):  
Arsene Sandie ◽  
Nicholas Molinari ◽  
Anthony Wanjoya ◽  
Charles Kouanfack ◽  
Christian Laurent ◽  
...  
Keyword(s):  
Confidence Interval ◽  
Active Control ◽  
Error Rate ◽  
Type I Error ◽  
Clinical Monitoring ◽  
Small Scale ◽  
Type I ◽  
Test Procedures ◽  
Power Estimate ◽  
Control Intervention

Abstract Background: The non-inferiority trials are becoming increasingly popular in public health and clinical research. The choice of the non-inferiority margin is the cornerstone of the non-inferiority trial. When the effect of active control intervention is unknown, it can be interesting to choose the non-inferiority margin as a function of the active control intervention effect. In this case, the uncertainty surrounding the non-inferiority margin should be accounted for in statistical tests. In this work, we explored how to perform the non-inferiority test with a flexible margin for continuous endpoint.Methods: It was proposed in this study two procedures for the non-inferiority test with a flexible margin for the continuous endpoint. The proposed test procedures are based on test statistic and confidence interval approach. Simulations have been used to assess the performances and properties of the proposed test procedures. An application was done on clinical real data, which the purpose was to assess the efficacy of clinical monitoring alone versus laboratory and clinical monitoring in HIV-infected adult patients.Results: Basically, the two proposed test procedures have good properties. In the test based on a statistic, the actual type 1 error rate estimate is approximatively equal to the nominal value. It has been found that the confidence interval level determines approximately the level of significance. The 80%, 90%, and 95%one-sided confidence interval levels led approximately to a type I error of 10%, 5% and 2.5% respectively. The power estimate was almost 100% for two proposed tests, except for the small scale values of the reference treatment where the power was relatively low when the sample sizes were small.Conclusions: Based on type I error rate and power estimates, the proposed non-inferiority hypothesis test procedures have good performance and are applicable in practice.Trial registration: The trial data used in this study was from the ”Stratall ANRS 12110 / ESTHER”, registered with ClinicalTrials.gov, number NCT00301561. Date : March 13, 2006, url : https://clinicaltrials.gov/ct2/show/NCT00301561.

scholarly journals Experimental Evaluation on Haptic Feedback Accuracy by Using Two Self-Made Haptic Devices and One Additional Interface in Robotic Teleoperation

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 24
Author(s):  
Guan-Yang Liu ◽  
Yi Wang ◽  
Chao Huang ◽  
Chen Guan ◽  
Dong-Tao Ma ◽  
...  
Keyword(s):  
Experimental Evaluation ◽  
Haptic Feedback ◽  
Force Sensor ◽  
Interaction Force ◽  
Haptic Device ◽  
Human Hand ◽  
Haptic Devices ◽  
Input Noise ◽  
Output Force ◽  
Robotic Teleoperation

The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.

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 Effect of 2.5D haptic feedback on virtual object perception via a stylus

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Gyuwon Kim ◽  
Donghyun Hwang ◽  
Jaeyoung Park
Keyword(s):  
Haptic Feedback ◽  
Human Perception ◽  
Object Perception ◽  
Touch Screen ◽  
Interaction Force ◽  
Tactile Feedback ◽  
Virtual Object ◽  
Smart Device ◽  
Realistic Interaction ◽  
Skin Stretch

AbstractAs touch screen technologies advanced, a digital stylus has become one of the essential accessories for a smart device. However, most of the digital styluses so far provide limited tactile feedback to a user. Therefore we focused on the limitation and noted the potential that a digital stylus may offer the sensation of realistic interaction with virtual environments on a touch screen using a 2.5D haptic system. Thus, we developed a haptic stylus with SMA (Shape Memory Alloy) and a 2.5D haptic rendering algorithm to provide lateral skin-stretch feedback to mimic the interaction force between fingertip and a stylus probing over a bumpy surface. We conducted two psychophysical experiments to evaluate the effect of 2.5D haptic feedback on the perception of virtual object geometry. Experiment 1 investigated the human perception of virtual bump size felt via the proposed lateral skin-stretch stylus and a vibrotactile stylus as reference. Experiment 2 tested the participants’ ability to count the number of virtual bumps rendered via the two types of haptic styluses. The results of Experiment 1 indicate that the participants felt the size of virtual bumps rendered with lateral skin-stretch stylus significantly sensitively than the vibrotactile stylus. Similarly, the participants counted the number of virtual bumps rendered with the lateral skin-stretch stylus significantly better than with the vibrotactile stylus. A common result of the two experiments is a significantly longer mean trial time for the skin-stretch stylus than the vibrotactile stylus.

scholarly journals Non-Inferiority Test for a Continuous Variable with a Flexible Margin in an Active Controlled Trial : An Application to the "Stratall ANRS 12110 / ESTHER" Trial

2021 ◽  
Author(s):  
Arsene Sandie ◽  
Nicholas Molinari ◽  
Anthony Wanjoya ◽  
Charles Kouanfack ◽  
Christian Laurent ◽  
...  
Keyword(s):  
Confidence Interval ◽  
Active Control ◽  
Error Rate ◽  
Type I Error ◽  
Clinical Monitoring ◽  
Small Scale ◽  
Type I ◽  
Test Procedures ◽  
Power Estimate ◽  
Control Intervention

Abstract Background : The non-inferiority trials are becoming increasingly popular in public health and clinical research. The choice of the non-inferiority margin is the cornerstone of the non-inferiority trial. When the effect of active control intervention is unknown, it can be interesting to choose the non-inferiority margin as a function of the active control intervention effect. In this case, the uncertainty surrounding the non-inferiority margin should be accounted for in statistical tests. In this work, we explored how to perform the non-inferiority test with a flexible margin for continuous endpoint.Methods: It was proposed in this study two procedures for the non-inferiority test with a flexible margin for the continuous endpoint. The proposed test procedures are based on test statistic and confidence interval approach. Simulations have been used to assess the performances and properties of the proposed test procedures. An application was done on clinical real data, which the purpose was to assess the efficacy of clinical monitoring alone versus laboratory and clinical monitoring in HIV-infected adult patients.Results : Basically, the two proposed test procedures have good properties. In the test based on a statistic, the actual type 1 error rate estimate is approximatively equal to the nominal value. It has been found that the confidence interval level determines approximately the level of significance. The $80\%$ , $90\%$ , and $95\%$ one-sided confidence interval levels led approximately to a type I error of $10\%$ , $5\%$ and $2.5\%$ respectively. The power estimate was almost $100\%$ for two proposed tests, except for the small scale values of the reference treatment where the power was relatively low when the sample sizes were small.Conclusions : Based on type I error rate and power estimates, the proposed non-inferiority hypothesis test procedures have good performance and are applicable in practice.Trial registration : The trial data used in this study was from the "Stratall ANRS 12110 / ESTHER", registered with ClinicalTrials.gov, number NCT00301561. Date : March 13, 2006, url : https://clinicaltrials.gov/ct2/show/NCT00301561.

scholarly journals Human-Scale Virtual Environment for Product Design: Effect of Sensory Substitution

2006 ◽  
Vol 5 (2) ◽  
pp. 37-44 ◽  
Author(s):  
Paul Richard ◽  
Damien Chamaret ◽  
François-Xavier Inglese ◽  
Philippe Lucidarme ◽  
Jean-Louis Ferrier
Keyword(s):  
Product Design ◽  
Virtual Environment ◽  
Large Scale ◽  
Haptic Feedback ◽  
Calibration Method ◽  
Open Loop ◽  
Tactile Feedback ◽  
Sensory Substitution ◽  
Human Scale ◽  
Different Parts

This paper presents a human-scale virtual environment (VE) with haptic feedback along with two experiments performed in the context of product design. The user interacts with a virtual mock-up using a large-scale bimanual string-based haptic interface called SPIDAR (Space Interface Device for Artificial Reality). An original self-calibration method is proposed. A vibro-tactile glove was developed and integrated to the SPIDAR to provide tactile cues to the operator. The purpose of the first experiment was: (1) to examine the effect of tactile feedback in a task involving reach-and-touch of different parts of a digital mock-up, and (2) to investigate the use of sensory substitution in such tasks. The second experiment aimed to investigate the effect of visual and auditory feedback in a car-light maintenance task. Results of the first experiment indicate that the users could easily and quickly access and finely touch the different parts of the digital mock-up when sensory feedback (either visual, auditory, or tactile) was present. Results of the of the second experiment show that visual and auditory feedbacks improve average placement accuracy by about 54 % and 60% respectively compared to the open loop case

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