The Experts below are selected from a list of 4956 Experts worldwide ranked by ideXlab platform
Mark R Cutkosky - One of the best experts on this subject based on the ideXlab platform.
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long stroke rolling diaphragm actuators for Haptic Display of forces in teleoperation
International Conference on Robotics and Automation, 2019Co-Authors: Alexander Gruebele, Samuel Frishman, Mark R CutkoskyAbstract:We present a new rolling diaphragm actuator for transmitting forces in a teleoperated system. The initial application is for MR-guided biopsy procedures, providing accurate transmission of motions and forces between the fingertips of a physician and a biopsy needle being inserted into tissue. Desirable actuator qualities include low hysteresis, high axial stiffness, and long travel. The actuator uses an anisotropic laser-patterned fabric embedded in a soft silicone sleeve for a combination of low stretch in the axial direction and sufficient stretch in the radial direction so that a taper is not required; hence the actuator can have almost any length. We present results for a prototype input/output system with 6 cm stroke, 1 cm diameter, and a minimum force of 0.3 N to initiate motion. We compare its performance to a system using commercial rolling diaphragm actuators and show that the new system provides an improved combination of long stroke, high stiffness, and accurate transmission of fingertip forces.
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Haptic skin stretch on a steering wheel for Displaying preview information in autonomous cars
IEEE International Conference on Intelligent Robots and Systems, 2016Co-Authors: Jung Hwa Bae, Wendy Ju, Mark R CutkoskyAbstract:— Lateral skin stretch is a promising technology for Haptic Display of information between an autonomous or semi-autonomous car and a driver. We present the design of a steering wheel with an embedded lateral skin stretch Display and report on the results of tests (N=10) conducted in a driving vehicle in suburban traffic. Results are generally consistent with previous results utilizing skin stretch in stationary applications, but a slightly higher, and particularly a faster rate of stretch application is preferred for accurate detection of direction and approximate magnitude.
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Detection of membrane puncture with Haptic feedback using a tip-force sensing needle
IEEE International Conference on Intelligent Robots and Systems, 2014Co-Authors: Santhi Elayaperumal, Jung Hwa Bae, Bruce L. Daniel, Mark R CutkoskyAbstract:This paper presents calibration and user test results of a 3-D tip-force sensing needle with Haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are Displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil Haptic Display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time Haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added Haptic feedback (p = 0.0024).
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Rotational skin stretch feedback: A wearable Haptic Display for motion
IEEE Transactions on Haptics, 2010Co-Authors: Karlin Bark, Jason Wheeler, Pete Shull, Joan Savall, Mark R CutkoskyAbstract:We present a wearable Haptic feedback device that imparts rotational skin stretch to the hairy skin, along with the results of psychophysical tests to determine its resolution and accuracy for motion Display. Tracking experiments with visual markers reveal the pattern of skin motion and strain imparted by the device, confirming subjective impressions that the design represents a trade-off between perception at low stimulus levels and comfort at maximum stimulus levels. In an isolated environment, users were able to discriminate between different rotational displacements of stretch within two to five degrees, depending on the reference stimulus. In a more realistic setting, subjects were able to use feedback from the device to control the positioning of a virtual object within six degrees or ±6.5 degrees of the total range of motion. When subjects were passive and exposed to arbitrary rotations of the device, the accuracy was poorer, although it improved with training. The results suggest that wearable skin stretch devices can be an effective means of providing feedback about a user's controlled joint or limb motions for motion training and similar applications.
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reality based models for vibration feedback in virtual environments
IEEE-ASME Transactions on Mechatronics, 2001Co-Authors: Alliso M Okamura, Mark R Cutkosky, Jack T DennerleiAbstract:Reality-based modeling of vibrations has been used to enhance the Haptic Display of virtual environments for impact events such as tapping, although the bandwidths of many Haptic Displays make it difficult to accurately replicate the measured vibrations. We propose modifying reality-based vibration parameters through a series of perceptual experiments with a Haptic Display. We created a vibration feedback model, a decaying sinusoidal waveform, by measuring the acceleration of the stylus of a three degree-of-freedom Haptic Display as a human user tapped it on several real materials. A series of perceptual experiments, where human users rated the realism of various parameter combinations, were performed to further enhance the realism of the vibration Display for impact events. The results provided different parameters than those derived strictly from acceleration data. Additional experiments verified the effectiveness of these modified model parameters by showing that users could differentiate between materials in a virtual environment.
Tsuneo Yoshikawa - One of the best experts on this subject based on the ideXlab platform.
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virtual Haptic map using Haptic Display technology for visually impaired
2010Co-Authors: Tsuneo Yoshikawa, Takayuki Satoi, Masanao KoedaAbstract:We propose a new virtual Haptic map system for visually impaired persons that uses a force Display device and a GPS receiver. This system can Haptically Display the roads, city blocks, and buildings which are automatically constructed from a numerical map in DXF format and the information of current location from a GPS receiver. To evaluate the usability of this system, recognition experiments using several simple maps were conducted by ten blindfolded subjects. In the experiments, recognition rates were compared between two representation methods of roads: concaved roads and convexed roads. As a result, high recognition rates were confirmed in both methods, and it shows that this system has reasonable usability. We have also developed a mobile robot system with our virtual Haptic map system which is aimed to be a guide dog robot with the ability of providing near-by Haptic maps. A preliminary experiment is conducted to examine the validity of this mobile robot system.
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a quantitative evaluation method of handedness using Haptic virtual reality technology
Robot and Human Interactive Communication, 2007Co-Authors: Tsuneo Yoshikawa, Masanao Koeda, Munetaka SugihashiAbstract:This paper proposes a method for evaluating quantitatively the degree of handedness of a person by using the Haptic virtual reality technology. A definition is also given of a pair of quantitative indices for handedness and dexterity of a person from the data obtained by this method using the factor analysis. A Haptic Display system has been developed consisting of two PHANToM OMNI Haptic devices, a graphics Display, and a computer for virtual space calculation and control. To observe the skillfulness of two hands of a person, three virtual tasks have been developed: positioning task, force control task, and manipulation task. Ten male subjects aged from 22 to 23 years old have taken the test. The obtained performance data from these tasks have been analyzed using the factor analysis. Since the obtained factor scores for the right and left hands of each subject can be regarded as the skillfulness of the right and left hand, it is proposed to define the degree of handedness of the subject based on the difference of these factor scores. The proposed degree of handedness and the result of conventional LQ method did not contradict to each other. The calculated degrees of handedness, however, differ largely among the subjects. From this result, it is expected that the proposed method can be useful for detailed and quantitative evaluation of handedness.
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Haptic Display of movable virtual object with interface device capable of continuous time impedance Display by analog circuit
International Conference on Robotics and Automation, 2002Co-Authors: M Kawai, Tsuneo YoshikawaAbstract:Stability of Haptic interface is an important issue in virtual reality because ail operator touches directly a Haptic interface device. The stability is influenced by sampling period and discrete-time property of control system. In this paper, for decreasing the influence of sampling system, we propose a Haptic device with an analog circuit, which is placed between the computer and the Haptic device and works as springs and dampers. The control system can specify the stiffness and the damping coefficients and their equilibrium. For Displaying virtual objects that can move in virtual environment, we propose two methods to utilize the device, continuous-time coupling impedance (CCI) method and continuous-time object impedance (COI) method. We also analyze the passivity of each method for 1-DOF Display system. Finally, some experimental results in two-dimensional virtual environment are presented to show the validity of the proposed approach.
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stable Haptic Display of 1 dof grasping with coupling impedance for internal and external forces
Intelligent Robots and Systems, 2000Co-Authors: M Kawai, Tsuneo YoshikawaAbstract:We discuss a Haptic Display for 1-DOF grasping of a virtual object by two fingers. Much research has been done on fundamental analysis for stability of Haptic Displays. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies deal with a single device and a single object. This is because the fingertip force in grasping situations has two components, internal and external force. The conventional methods, which calculate the coupling impedance at each contact point separately, have no other alternative but to calculate the impedance for the sum of the internal and external force components. So even if only the impedance for external force should be changed, the impedance for internal force is also changed at the same time. We propose a method, in which the coupling impedance is calculated separately for internal and external forces. Second, we discuss the stability of the proposed method and compare it with the conventional method. Finally, we perform some experiments to confirm the effects of the proposed method.
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virtual lesson and its application to virtual calligraphy system
International Conference on Robotics and Automation, 1998Co-Authors: K. Henmi, Tsuneo YoshikawaAbstract:The concept of a virtual lesson is proposed for transferring a teacher's skill to a student using Haptic virtual reality technology. We have developed a virtual calligraphy system as one of its applications. In this system, the position and force trajectories of the teacher's writing brush is recorded first and then these trajectories are Displayed to the student. What the student can learn is the teacher's horizontal brush position trajectory, his normal pushing force against a virtual paper, and the distance between the teacher's brush and the virtual paper. Recognizing that it is impossible to Display both the normal force information and the normal position information at the same time, we have implemented two methods of skill Display: one is to use the Haptic Display device for Displaying the position information, and the other is to use it for Displaying the force information. The remaining information is Displayed using a secondary Display device, visual Display in the developed system. A preliminary experimental result is also presented.
Susumu Tachi - One of the best experts on this subject based on the ideXlab platform.
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simplified design of Haptic Display by extending one point kinesthetic feedback to multipoint tactile feedback
IEEE Haptics Symposium, 2010Co-Authors: Kouta Minamizawa, Domenico Prattichizzo, Susumu TachiAbstract:For designing a simple and more realistic Haptic feedback system, we propose integrating an underactuated mechanism with one-point kinesthetic feedback from the arm with multipoint tactile feedback. By focusing on the division of roles between the cutaneous sensation in fingers and the proprioception in the arm. We have implemented a prototype system that provides kinesthetic feedback to the arm and tactile feedback to the fingers, examined the difference of weight recognition according to the applied point of kinesthetic feedback, and confirmed the effectiveness of the proposed method.
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flextorque innovative Haptic interface for realistic physical interaction in virtual reality
International Conference on Computer Graphics and Interactive Techniques, 2009Co-Authors: Dzmitry Tsetserukou, Naoki Kawakami, Katsunari Sato, Alena Neviarouskaya, Susumu TachiAbstract:In order to realize Haptic interaction (e.g., holding, pushing, and contacting the object) in virtual environment and mediated Haptic communication with human beings (e.g., handshaking), the force feedback is required. Recently there has been a substantial need and interest in Haptic Displays, which can provide realistic and high fidelity physical interaction in virtual environment. The aim of our research is to implement a wearable Haptic Display for presentation of realistic feedback (kinesthetic stimulus) to the human arm. We developed a wearable device FlexTorque that induces forces to the human arm and does not require holding any additional Haptic interfaces in the human hand. It is completely new technology for Virtual Reality that allows user to explore surroundings freely. The concept of Karate (empty hand) Haptics proposed by us is opposite to conventional interfaces (e.g., Wii Remote, SensAble's PHANTOM, SPIDAR [Murayama et al. 2004]) that require holding Haptic interface in the hand, restricting thus the motion of the fingers in midair.
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gravity grabber wearable Haptic Display to present virtual mass sensation
International Conference on Computer Graphics and Interactive Techniques, 2007Co-Authors: Kouta Minamizawa, Hiroyuki Kajimoto, Naoki Kawakami, Souichiro Fukamachi, Susumu TachiAbstract:We propose a wearable Haptic Display to present the weight sensation of a virtual object, which is based on our novel insight that the deformation on fingerpads makes a reliable weight sensation even when the proprioceptive sensation is absent. This device will provide a new form of ubiquitous Haptic interaction.
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a wearable Haptic Display to present the gravity sensation preliminary observations and device design
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007Co-Authors: Kouta Minamizawa, Hiroyuki Kajimoto, Naoki Kawakami, Susumu TachiAbstract:We propose a wearable, ungrounded Haptic Display that presents the realistic gravity sensation of a virtual object. We focused on the shearing stress on the fingerpads duo to the weight of the object, and found that the deformation of the fingerpads can generate the reliable gravity sensation even when the proprioceptive sensation on the wrist or arm is absent. This implies that a non-grounded gravity Display can be realized by reproducing the fingerpad deformation. According to our observations, we had evaluation tests for device design. We implemented the prototype device which has simple structure using dual motors, and then evaluated the recognition ability of the gravity sensation presented on operator's fingerpads with this method
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the smarttool a system for augmented reality of Haptics
IEEE Virtual Reality Conference, 2002Co-Authors: Takuya Nojima, Dairoku Sekiguchi, Masahiko Inami, Susumu TachiAbstract:Previous research on augmented reality has been mainly focused on augmentation of visual or acoustic information. However, humans can receive information not only through vision and acoustics, but also through Haptics. Haptic sensation is very intuitive, and some researchers are focusing on making use of Haptics in augmented reality systems. While most previous research on Haptics is based on static data, such as that generated from CAD, CT, and so on, these systems have difficulty responding to a changing real environment in real time. In this paper, we propose a new concept for the augmented reality of Haptics, the SmartTool. The SmartTool responds to the real environment by using real time sensor(s) and a Haptic Display. The sensor(s) on the SmartTool measure the real environment then send us that information through Haptic sensation. Furthermore, we will describe the prototype system we have developed.
Dong-soo Kwon - One of the best experts on this subject based on the ideXlab platform.
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Development of a New Miniature Actuator providing both Kinesthetic and Vibrotactile Feedback for Haptic Interface
2016Co-Authors: Dongbum Pyo, Semin Ryu, Byung-kil Han, Dong-soo KwonAbstract:Abstract This paper presents a new miniature Haptic Display to convey ample Haptic information to a user of a handheld interface. There are buttons on interfaces or general electronic devices, but existing buttons provide Haptic feedback of only one passive pattern to a user. Because humans perceive tactile and kinesthetic information simultaneously when they handle objects the proposed actuator provides both sensations at once. It is able to generate various levels of kinesthetic sensations when pressing a button under diverse situations. Also, vibrotactile feedback can be delivered for exciting Haptic effects with numerous patterns. Its performance was evaluated in accordance with the resistive force by changing the intensity of the input current. Experiments show that the proposed actuator ha
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development of a new miniature actuator providing both kinesthetic and vibrotactile feedback for Haptic interface
The Journal of Korea Robotics Society, 2013Co-Authors: Dong-soo KwonAbstract:This paper presents a new miniature Haptic Display to convey ample Haptic information to a user of a handheld interface. There are buttons on interfaces or general electronic devices, but existing buttons provide Haptic feedback of only one passive pattern to a user. Because humans perceive tactile and kinesthetic information simultaneously when they handle objects the proposed actuator provides both sensations at once. It is able to generate various levels of kinesthetic sensations when pressing a button under diverse situations. Also, vibrotactile feedback can be delivered for exciting Haptic effects with numerous patterns. Its performance was evaluated in accordance with the resistive force by changing the intensity of the input current. Experiments show that the proposed actuator has the ability to provide numerous Haptic sensations for more realistic and complex Haptic experiences.
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a novel interactive mouse system for holistic Haptic Display in a human computer interface
International Journal of Human-computer Interaction, 2006Co-Authors: Ki-uk Kyung, Dong-soo Kwon, Giihun YangAbstract:The sense of touch provides humans with the ability to determine the shape and surface properties of objects. Although touch is an important part of daily life for object manipulation and exploration tasks, users are, unfortunately, rarely provided with the opportunity to use their sense of touch while interacting with computers. To rectify this, this article presents a novel Haptic mouse system that can be used as a human-computer interface with the capability for holistic Haptic feedback, including contact force, surface properties, and thermal feedback. The system is composed of 3 main parts. First, the 5-bar mechanism, which comprises the lowermost part of the mouse's body, has been adapted to realize 2-DOF translational force feedback. This mechanism helps the user to feel the contact force, stiffness, and size of a virtual object while exploring a graphical environment. Second, a small tactile Display was developed. It has a planar-distributed pin array, and it can represent microscale shapes with v...
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Novel Haptic mouse system for holistic Haptic Display and potential of vibrotactile stimulation
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005Co-Authors: Gi-hun Yang, Young-ju Jeong, Ki-uk Kyung, Dong-soo KwonAbstract:This paper describes a novel Haptic mouse system which conveys kinesthetic and tactile information simultaneously in virtual environments. The Haptic mouse system can provide 2-DOF translational force feedback, vibration, normal pressure, skin stretch and thermal feedback, all of which are important physical quantities of sensing object's shape, stiffness and surface properties. The system can simulate small scale shapes and roughness of surface textures using cutaneous cues generated by individual drives of a 6×8 pin array. Since thermal differences among surfaces of virtual objects is one of dominant factors in perceiving texture, a thermal feedback unit composed of a heat conduction plate and a temperature sensor is also embedded into the tactile Display system. The developed system can be used as a testbed in psychophysical study on tactile perception. We have investigated the influence of the frequency variation on perceived roughness using the Haptic mouse system since vibrotaction has been considered as a key factor affecting perception of fine textures by physiology researchers. In order to find out the relation of roughness and vibration, two psychophysical experiments have been performed. The correlation between the vibration frequency and the texture shows that there are certain transitions of perceived roughness. The experimental results yield that the vibrating stimulus is more effective for Displaying a fine surface than static displacement Display, and it shows a possibility to Display finer texture, exceeding the physical limitation of the device.
Kouta Minamizawa - One of the best experts on this subject based on the ideXlab platform.
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altered touch miniature Haptic Display with force thermal and tactile feedback for augmented Haptics
International Conference on Computer Graphics and Interactive Techniques, 2017Co-Authors: Takaki Murakami, Tanner Person, Charith Lasantha Fernando, Kouta MinamizawaAbstract:In this paper, (1) we developed a fingertip Haptic Display with integrated force, tactile and thermal feedback in a miniature form-factor such that it can be worn easily and used with augmented reality applications without affecting the existing tracking technologies. (2) we propose the concept of "Altered Touch", where the integrated fingertip Haptic Display stated in (1) was used to alter the Haptic properties of real objects by rendering projected visual and Haptic feedback. The system consists of our own force Display Gravity Grabber mechanism[Minamizawa et al. 2007] to render vertical, shearing forces, high frequency tactile vibrations, and a peltier module for thermal Display. The integrated Haptic Display module weighs less than 50g, can be easily interfaced to a PC with just one micro USB cable, and works standalone from any other additional hardware. In this paper we use this wearable Haptic actuator in several augmented reality applications to alter the softness/hardness and hot/cold sensation and several use cases have been discussed. Furthermore, the Haptic Display could be expanded to design a Haptic glove that can interact with both virtual and augmented worlds.
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simplified design of Haptic Display by extending one point kinesthetic feedback to multipoint tactile feedback
IEEE Haptics Symposium, 2010Co-Authors: Kouta Minamizawa, Domenico Prattichizzo, Susumu TachiAbstract:For designing a simple and more realistic Haptic feedback system, we propose integrating an underactuated mechanism with one-point kinesthetic feedback from the arm with multipoint tactile feedback. By focusing on the division of roles between the cutaneous sensation in fingers and the proprioception in the arm. We have implemented a prototype system that provides kinesthetic feedback to the arm and tactile feedback to the fingers, examined the difference of weight recognition according to the applied point of kinesthetic feedback, and confirmed the effectiveness of the proposed method.
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gravity grabber wearable Haptic Display to present virtual mass sensation
International Conference on Computer Graphics and Interactive Techniques, 2007Co-Authors: Kouta Minamizawa, Hiroyuki Kajimoto, Naoki Kawakami, Souichiro Fukamachi, Susumu TachiAbstract:We propose a wearable Haptic Display to present the weight sensation of a virtual object, which is based on our novel insight that the deformation on fingerpads makes a reliable weight sensation even when the proprioceptive sensation is absent. This device will provide a new form of ubiquitous Haptic interaction.
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a wearable Haptic Display to present the gravity sensation preliminary observations and device design
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2007Co-Authors: Kouta Minamizawa, Hiroyuki Kajimoto, Naoki Kawakami, Susumu TachiAbstract:We propose a wearable, ungrounded Haptic Display that presents the realistic gravity sensation of a virtual object. We focused on the shearing stress on the fingerpads duo to the weight of the object, and found that the deformation of the fingerpads can generate the reliable gravity sensation even when the proprioceptive sensation on the wrist or arm is absent. This implies that a non-grounded gravity Display can be realized by reproducing the fingerpad deformation. According to our observations, we had evaluation tests for device design. We implemented the prototype device which has simple structure using dual motors, and then evaluated the recognition ability of the gravity sensation presented on operator's fingerpads with this method
