scholarly journals Tacsac: A Wearable Haptic Device with Capacitive Touch-Sensing Capability for Tactile Display

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4780
Author(s):  
Oliver Ozioko ◽  
William Navaraj ◽  
Marion Hersh ◽  
Ravinder Dahiya
Keyword(s):  
Haptic Feedback ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Human Hand ◽  
Dual Function ◽  
Vibrotactile Stimulation ◽  
Wide Range ◽  
Metal Insulator Metal ◽  
Flexible Coil ◽  
Resonance Vibration Frequency

This paper presents a dual-function wearable device (Tacsac) with capacitive tactile sensing and integrated tactile feedback capability to enable communication among deafblind people. Tacsac has a skin contactor which enhances localized vibrotactile stimulation of the skin as a means of feedback to the user. It comprises two main modules—the touch-sensing module and the vibrotactile module; both stacked and integrated as a single device. The vibrotactile module is an electromagnetic actuator that employs a flexible coil and a permanent magnet assembled in soft poly (dimethylsiloxane) (PDMS), while the touch-sensing module is a planar capacitive metal-insulator-metal (MIM) structure. The flexible coil was fabricated on a 50 µm polyimide (PI) sheet using Lithographie Galvanoformung Abformung (LIGA) micromoulding technique. The Tacsac device has been tested for independent sensing and actuation as well as dual sensing-actuation mode. The measured vibration profiles of the actuator showed a synchronous response to external stimulus for a wide range of frequencies (10 Hz to 200 Hz) within the perceivable tactile frequency thresholds of the human hand. The resonance vibration frequency of the actuator is in the range of 60–70 Hz with an observed maximum off-plane displacement of 0.377 mm at coil current of 180 mA. The capacitive touch-sensitive layer was able to respond to touch with minimal noise both when actuator vibration is ON and OFF. A mobile application was also developed to demonstrate the application of Tacsac for communication between deafblind person wearing the device and a mobile phone user who is not deafblind. This advances existing tactile displays by providing efficient two-way communication through the use of a single device for both localized haptic feedback and touch-sensing.

Tactile Feedback Improves Performance in a Palpation Task: Results in a VR-Based Testbed

2012 ◽  
Vol 21 (4) ◽  
pp. 435-451 ◽  
Author(s):  
Laura Santos-Carreras ◽  
Kaspar Leuenberger ◽  
Evren Samur ◽  
Roger Gassert ◽  
Hannes Bleuler
Keyword(s):  
Visual Cues ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Cost Effective ◽  
Interaction Force ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Task Completion ◽  
Multimodal Feedback ◽  
Feedback Information

Robotic surgery provides many benefits such as reduced invasiveness and increased dexterity. This comes at the cost of no direct contact between surgeon and patient. This physical separation prevents surgeons from performing direct haptic exploration of tissues and organs, imposing exclusive reliance on visual cues. Current technology is not yet able to both measure and reproduce a realistic and complete sense of touch (interaction force, temperature, roughness, etc.). In this paper, we put forward a concept based on multimodal feedback consisting of the integration of different kinds of visual and tactile cues with force feedback that can potentially improve both the surgeon's performance and the patient's safety. We present a cost-effective tactile display simulating a pulsating artery that has been integrated into a haptic workstation to combine both tactile and force-feedback information. Furthermore, we investigate the effect of different feedback types, including tactile and/or visual cues, on the performance of subjects carrying out two typical palpation tasks: (1) exploring a tissue to find a hidden artery and (2) identifying the orientation of a hidden artery. The results show that adding tactile feedback significantly reduces task completion time. Moreover, for high difficulty levels, subjects perform better with the feedback condition combining tactile and visual cues. As a matter of fact, the majority of the subjects in the study preferred this combined feedback because redundant feedback reassures subjects in their actions. Based on this work, we can infer that multimodal haptic feedback improves subjects' performance and confidence during exploratory procedures.

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.

Virtual Tissue Cutting With Haptic Feedback Using a Hybrid Actuator With DC Servomotor and Magnetorheological Brake

2016 ◽  
Vol 16 (3) ◽  
Author(s):  
Berk Gonenc ◽  
Hakan Gurocak
Keyword(s):  
Haptic Feedback ◽  
Fast Response ◽  
Virtual Training ◽  
Tissue Properties ◽  
Tissue Cutting ◽  
Wide Range ◽  
Force Profile ◽  
Rat Tissue ◽  
Dc Servomotor ◽  
Hybrid Actuator

Surgical training is an important and recent application where haptic interfaces are used to enhance the realism of virtual training simulators. Tissue cutting with surgical scissors is a common interaction mode in the simulations. The haptic interface needs to render a wide range of tissue properties and resistance forces accurately. In this research, we developed a hybrid haptic device made of a DC servomotor and a magnetorheological (MR) brake. The motor can provide fast dynamic response and compensate for inertia and friction effects of the device. But alone, it cannot supply high force levels and the sensation of stiff interaction with hard tissues such as tendons. On the other hand, the MR-brake can provide very stiff interaction forces yet cannot reflect fast dynamics that are encountered as the virtual scissors go through the tissue. The hybrid actuator developed in this work combines the two based on a control scheme that decomposes the actuator command signal into two branches considering each actuator's capabilities. It is implemented on a compact single degree-of-freedom (DOF) interface to simulate virtual tissue cutting with three different scissor types (Mayo, Metzenbaum, Iris) and four types of rat tissue (liver, muscle, skin, tendon). Results have shown close tracking of the desired force profile in all cases. Compared to just using a DC motor, the hybrid actuator provided a wider range of forces (up to 18 N) with fast response to render quick force variations without any instability for all simulated tissue and scissor types.

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.

scholarly journals Improved Refractive Index-Sensing Performance of Multimode Fano-Resonance-Based Metal-Insulator-Metal Nanostructures

Nanomaterials ◽  
2021 ◽  
Vol 11 (8) ◽  
pp. 2097
Author(s):  
Yuan-Fong Chou Chau ◽  
Chung-Ting Chou Chao ◽  
Siti Zubaidah Binti Haji Jumat ◽  
Muhammad Raziq Rahimi Kooh ◽  
Roshan Thotagamuge ◽  
...  
Keyword(s):  
Refractive Index ◽  
Plasmon Resonance ◽  
Fano Resonance ◽  
High Sensitivity ◽  
Metal Nanostructures ◽  
Refractive Index Sensor ◽  
Metal Insulator ◽  
Wide Range ◽  
Metal Insulator Metal ◽  
Mode 2

This work proposed a multiple mode Fano resonance-based refractive index sensor with high sensitivity that is a rarely investigated structure. The designed device consists of a metal–insulator–metal (MIM) waveguide with two rectangular stubs side-coupled with an elliptical resonator embedded with an air path in the resonator and several metal defects set in the bus waveguide. We systematically studied three types of sensor structures employing the finite element method. Results show that the surface plasmon mode’s splitting is affected by the geometry of the sensor. We found that the transmittance dips and peaks can dramatically change by adding the dual air stubs, and the light–matter interaction can effectively enhance by embedding an air path in the resonator and the metal defects in the bus waveguide. The double air stubs and an air path contribute to the cavity plasmon resonance, and the metal defects facilitate the gap plasmon resonance in the proposed plasmonic sensor, resulting in remarkable characteristics compared with those of plasmonic sensors. The high sensitivity of 2600 nm/RIU and 1200 nm/RIU can simultaneously achieve in mode 1 and mode 2 of the proposed type 3 structure, which considerably raises the sensitivity by 216.67% for mode 1 and 133.33% for mode 2 compared to its regular counterpart, i.e., type 2 structure. The designed sensing structure can detect the material’s refractive index in a wide range of gas, liquids, and biomaterials (e.g., hemoglobin concentration).

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.

Smart Prosthetic Hand with Object Slippage Detection, Measurement, and Control

2014 ◽  
Vol 5 (3) ◽  
pp. 25-48
Author(s):  
Girish Sriram ◽  
Alex Jensen ◽  
Steve C. Chiu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Sensory Feedback ◽  
Position Control ◽  
Tactile Feedback ◽  
Human Hand ◽  
Computing Platform ◽  
Emg Signal ◽  
A New Technique

The human hand along with its fingers possess one of the highest numbers of nerve endings in the human body. It thus has the capacity for the richest tactile feedback for positioning capabilities. This article shares a new technique of controlling slippage. The sensing system used for the detection of slippage is a modified force sensing resistor (FSR®). The control system is a fuzzy logic control algorithm with multiple rules that is designed to be processed on a mobile handheld computing platform and integrated/working alongside a traditional Electromyography (EMG) or Electroencephalography (EEG) based control system used for determining position of the fingers. A 5 Degrees of Freedom (DOF) hand, was used to test the slippage control strategy in real time. First a reference EMG signal was used for getting the 5 DOF hand to grasp an object, using position control. Then a slip was introduced to see the slippage control strategy at work. The results based on the plain tactile sensory feedback and the modified sensory feedback are discussed.

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.

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