The Experts below are selected from a list of 12477 Experts worldwide ranked by ideXlab platform
Ingrid Carlbom - One of the best experts on this subject based on the ideXlab platform.
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visuoHaptic bone saw simulator combining vibrotactile and kinesthetic feedback
International Conference on Computer Graphics and Interactive Techniques, 2015Co-Authors: Pontus Olsson, Neeru Singh, Fredrik Nysjö, Andreas Thor, Ingrid CarlbomAbstract:The combination of stereo visualization and Haptics provides a natural interface for surgical training simulators, an application which is inherently both highly visual and highly tactile. However, most off-the-shelf kinesthetic Haptic Devices, such as the popular Phantom Devices, are not well-suited to display high-fidelity vibrotactile feedback for the high frequency force components in surgical tools such as a reciprocating bone saw. In these Haptic Devices, forces are mediated from the actuators to the user through a mechanical linkage, in which inertia, friction, and backlash may distort the feedback. In addition, sustained display of vibrations may cause undue wear of the device. We propose a hybrid solution combining kinesthetic feedback from an off-the-shelf Haptic device with high-fidelity vibration feedback from a vibrotactile actuator, and show that the hybrid is able to reproduce vibrations of an actual surgical reciprocating saw within the full perceptible frequency range.
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SIGGRAPH Asia Technical Briefs - VisuoHaptic bone saw simulator: combining vibrotactile and kinesthetic feedback
SIGGRAPH ASIA 2015 Technical Briefs on - SA '15, 2015Co-Authors: Pontus Olsson, Neeru Singh, Fredrik Nysjö, Andreas Thor, Ingrid CarlbomAbstract:The combination of stereo visualization and Haptics provides a natural interface for surgical training simulators, an application which is inherently both highly visual and highly tactile. However, most off-the-shelf kinesthetic Haptic Devices, such as the popular Phantom Devices, are not well-suited to display high-fidelity vibrotactile feedback for the high frequency force components in surgical tools such as a reciprocating bone saw. In these Haptic Devices, forces are mediated from the actuators to the user through a mechanical linkage, in which inertia, friction, and backlash may distort the feedback. In addition, sustained display of vibrations may cause undue wear of the device. We propose a hybrid solution combining kinesthetic feedback from an off-the-shelf Haptic device with high-fidelity vibration feedback from a vibrotactile actuator, and show that the hybrid is able to reproduce vibrations of an actual surgical reciprocating saw within the full perceptible frequency range.
J K Salisbury - One of the best experts on this subject based on the ideXlab platform.
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large workspace Haptic Devices a new actuation approach
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008Co-Authors: Michael R Zinn, Oussama Khatib, B Roth, J K SalisburyAbstract:Large workspace Haptic Devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous Haptic Devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM2) actuation method has been applied to the design of a large workspace Haptic device. In this paper, the DM2 method is described and we present experimental results which demonstrate its effectiveness. Finally, the control design is presented along with a discussion of the unique challenges associated with its robustness.
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HapticS - Large Workspace Haptic Devices - A New Actuation Approach
2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2008Co-Authors: Michael R Zinn, Oussama Khatib, B Roth, J K SalisburyAbstract:Large workspace Haptic Devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous Haptic Devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM2) actuation method has been applied to the design of a large workspace Haptic device. In this paper, the DM2 method is described and we present experimental results which demonstrate its effectiveness. Finally, the control design is presented along with a discussion of the unique challenges associated with its robustness.
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a criterion for the passivity of Haptic Devices
International Conference on Robotics and Automation, 2005Co-Authors: Nicola Diolaiti, Gunter Niemeyer, Federico Barbagli, J K SalisburyAbstract:Rendering a stiff virtual wall remains a core challenge in the field of Haptics. A passivity study of this problem is presented, which relates the maximum achievable wall stiffness to the system discretization and sampling delays, to the quantization of the encoder, to the inertia of the Haptic device, as well as to both the natural viscous and Coulomb damping present in the Haptic device. The resulting stability criterion generalizes previously known results. Its analytic derivation is verified in both simulation and experiments on a one degree of freedom testbed.
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ICRA - A Criterion for the PassivitY of Haptic Devices
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 1Co-Authors: Nicola Diolaiti, Gunter Niemeyer, Federico Barbagli, J K SalisburyAbstract:Rendering a stiff virtual wall remains a core challenge in the field of Haptics. A passivity study of this problem is presented, which relates the maximum achievable wall stiffness to the system discretization and sampling delays, to the quantization of the encoder, to the inertia of the Haptic device, as well as to both the natural viscous and Coulomb damping present in the Haptic device. The resulting stability criterion generalizes previously known results. Its analytic derivation is verified in both simulation and experiments on a one degree of freedom testbed.
Domenico Prattichizzo - One of the best experts on this subject based on the ideXlab platform.
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Evaluation of wearable Haptic systems for the fingers in Augmented Reality applications
IEEE Transactions on Haptics (ToH), 2017Co-Authors: Maurizio Maisto, Claudio Pacchierotti, Francesco Chinello, Gionata Salvietti, Alessandro De Luca, Domenico PrattichizzoAbstract:Although Augmented Reality (AR) has been around for almost five decades, only recently we have witnessed AR systems and applications entering in our everyday life. Representative examples of this technological revolution are the smartphone games " PokémonPok´Pokémon GO " and " Ingress " or the Google Translate real-time sign interpretation app. Even if AR applications are already quite compelling and widespread, users are still not able to physically interact with the computer-generated reality. In this respect, wearable Haptics can provide the compelling illusion of touching the superimposed virtual objects without constraining the motion or the workspace of the user. In this paper, we present the experimental evaluation of two wearable Haptic interfaces for the fingers in three AR scenarios, enrolling 38 participants. In the first experiment, subjects were requested to write on a virtual board using a real chalk. The Haptic Devices provided the interaction forces between the chalk and the board. In the second experiment, subjects were asked to pick and place virtual and real objects. The Haptic Devices provided the interaction forces due to the weight of the virtual objects. In the third experiment, subjects were asked to balance a virtual sphere on a real cardboard. The Haptic Devices provided the interaction forces due to the weight of the virtual sphere rolling on the cardboard. Providing Haptic feedback through the considered wearable device significantly improved the performance of all the considered tasks. Moreover, subjects significantly preferred conditions providing wearable Haptic feedback.
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conveying virtual tactile feedback via augmented kinesthetic stimulation
International Conference on Robotics and Automation, 2007Co-Authors: Alessandro Formaglio, Gabriel Baudbovy, Domenico PrattichizzoAbstract:In real object manipulation, the deformation of the fingerpads along the contact surfaces provides local information about the geometry of the object the subject is manipulating, even in absence of vision and any exploratory movement. In virtual reality with Haptic feedback this kind of stimulation is not available because the Haptic Devices currently available allow to simulate a contact point force interaction thus preventing the deformation of the fingerpads. The aim of this work is that of proposing a novel contact model to augment the information conveyed during kinesthetic interaction with single-point Haptic Devices. We extended the classic god-point algorithm by using a pseudo-ellipsoidal force field that creates anisotropic compliance in the neighborhood of the contact point. We performed several experiments in order to verify that such contact model can provide information about contact surface orientation even in absence of vision and of free voluntary exploration. The main finding was that participants could identify the orientation of the contact surface when the compliance was maximum in the tangential plane by using small exploratory movements allowed by the penalty-based contact model.
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the haptik library a component based architecture for Haptic Devices access
2004Co-Authors: M De Pascale, G De Pascale, Domenico Prattichizzo, Federico BarbagliAbstract:Haptik is a component based library recently developed at the University of Siena. It allows easy but powerful low-level access to Haptic Devices, both in a uniform way, common to all Devices, or in a more specialized one. Haptik addresses Haptic device access. It is non-invasive and easily usable with existing applications. Its architecture guarantees a binary compatibility of applications with future versions of Devices, library and plugins, still maintaining the maximum performance achiev- able directly with Devices SDKs. The library is freely downloadable at http://sirslab.dii.unisi.it/Haptic/haptik.htm
Ming Luo - One of the best experts on this subject based on the ideXlab platform.
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design and analysis of pneumatic 2 dof soft Haptic Devices for shear display
International Conference on Robotics and Automation, 2019Co-Authors: Smita Kanjanapas, Cara M Nunez, Sophia R Williams, Allison M Okamura, Ming LuoAbstract:Haptic Devices use touch to enable communication in a salient and private manner. While most Haptic Devices are held or worn at the hand, there is recent interest in developing wearable Haptic Devices for the arms. This frees the hands for manipulation tasks, but creates challenges for wearability. One approach is to use pneumatically driven soft Haptic Devices that, compared to rigid Devices, can be more readily worn due to their form factor and light weight. We propose a two-degree of freedom (2-DOF) pneumatic soft linear tactor that can be mounted on the forearm and provide shear force. The tactor is comprised of four soft fiber-constrained linear pneumatic actuators connected to a dome-shaped tactor head. The tactor can provide fast, repeatable forces on the order of 1 N in shear, in various directions in the plane of the skin surface. We demonstrate the tradeoffs of two housing schemes, one soft and one rigid, that mount the pneumatic soft linear actuator to the forearm. A user study demonstrated the performance of both versions of the device in providing directional cues, highlighting the challenges and importance of grounding soft wearable Devices and the difficulties of designing Haptic Devices given the perceptual limits of the human forearm.
Pontus Olsson - One of the best experts on this subject based on the ideXlab platform.
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visuoHaptic bone saw simulator combining vibrotactile and kinesthetic feedback
International Conference on Computer Graphics and Interactive Techniques, 2015Co-Authors: Pontus Olsson, Neeru Singh, Fredrik Nysjö, Andreas Thor, Ingrid CarlbomAbstract:The combination of stereo visualization and Haptics provides a natural interface for surgical training simulators, an application which is inherently both highly visual and highly tactile. However, most off-the-shelf kinesthetic Haptic Devices, such as the popular Phantom Devices, are not well-suited to display high-fidelity vibrotactile feedback for the high frequency force components in surgical tools such as a reciprocating bone saw. In these Haptic Devices, forces are mediated from the actuators to the user through a mechanical linkage, in which inertia, friction, and backlash may distort the feedback. In addition, sustained display of vibrations may cause undue wear of the device. We propose a hybrid solution combining kinesthetic feedback from an off-the-shelf Haptic device with high-fidelity vibration feedback from a vibrotactile actuator, and show that the hybrid is able to reproduce vibrations of an actual surgical reciprocating saw within the full perceptible frequency range.
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SIGGRAPH Asia Technical Briefs - VisuoHaptic bone saw simulator: combining vibrotactile and kinesthetic feedback
SIGGRAPH ASIA 2015 Technical Briefs on - SA '15, 2015Co-Authors: Pontus Olsson, Neeru Singh, Fredrik Nysjö, Andreas Thor, Ingrid CarlbomAbstract:The combination of stereo visualization and Haptics provides a natural interface for surgical training simulators, an application which is inherently both highly visual and highly tactile. However, most off-the-shelf kinesthetic Haptic Devices, such as the popular Phantom Devices, are not well-suited to display high-fidelity vibrotactile feedback for the high frequency force components in surgical tools such as a reciprocating bone saw. In these Haptic Devices, forces are mediated from the actuators to the user through a mechanical linkage, in which inertia, friction, and backlash may distort the feedback. In addition, sustained display of vibrations may cause undue wear of the device. We propose a hybrid solution combining kinesthetic feedback from an off-the-shelf Haptic device with high-fidelity vibration feedback from a vibrotactile actuator, and show that the hybrid is able to reproduce vibrations of an actual surgical reciprocating saw within the full perceptible frequency range.
