The Experts below are selected from a list of 9339 Experts worldwide ranked by ideXlab platform
Dong-soo Kwon - One of the best experts on this subject based on the ideXlab platform.
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Haptic Interfaces for mobile devices a survey of the state of the art
Recent Patents on Computer Science, 2008Co-Authors: Dong-soo Kwon, Seungchan KimAbstract:Recently, the mobile device industry has embraced Haptic feedback in the form of vibrotactile sensations. With the advances in actuator and control design, a great variety of tactile stimuli such as short pulses and various vibrations can be conveyed to users. Natural interfacing methods have become an important issue in this field, because gestures in relation to mobile devices are the most informative means of expressing the user’s intention. Haptic feedback can then notify the user of the success of a gestural input. The development of mobile devices that incorporate Haptic feedback may mutually affect the development of application software such as web-based programs, games, and location-sensitive media. For more realistic Haptic interaction, the development of new Haptic Interfaces for mobile devices should be based not only on system performance but also on further fundamental research into human perception and usability. This paper will cover interaction methods and application areas in mobile devices, followed by discussion of the trends for various devices equipped with tactile feedback, such as touchpad- and pen-based systems.
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stability and performance of Haptic Interfaces with active passive actuators theory and experiments
The International Journal of Robotics Research, 2006Co-Authors: Dong-soo KwonAbstract:This paper addresses both theoretical and experimental studies of the stability and performance of Haptic Interfaces containing active/passive actuators. Three different realizations of Haptic Interfaces are introduced to investigate their stability and performance: an active system equipped with a motor; a passive system equipped with a brake; and a hybrid system equipped with both brake and motor. The first objective is to demonstrate that a hybrid system is superior in its stability and performance to an active system via passivity theorem and Z-width. The second objective of this paper is to show that the conditions for the asymptotic stability of Haptic Interfaces during the static friction display are investigated via the absolute stability theory. Theoretical and experimental results are compared. An alternative Haptic interface is proposed that provides its highly stable Haptic interaction with high performance.
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Stability and Performance of Haptic Interfaces with Active/Passive Actuators--Theory and Experiments
The International Journal of Robotics Research, 2006Co-Authors: Dong-soo KwonAbstract:This paper addresses both theoretical and experimental studies of the stability and performance of Haptic Interfaces containing active/passive actuators. Three different realizations of Haptic Interfaces are introduced to investigate their stability and performance: an active system equipped with a motor; a passive system equipped with a brake; and a hybrid system equipped with both brake and motor. The first objective is to demonstrate that a hybrid system is superior in its stability and performance to an active system via passivity theorem and Z-width. The second objective of this paper is to show that the conditions for the asymptotic stability of Haptic Interfaces during the static friction display are investigated via the absolute stability theory. Theoretical and experimental results are compared. An alternative Haptic interface is proposed that provides its highly stable Haptic interaction with high performance.
Federico Barbagli - One of the best experts on this subject based on the ideXlab platform.
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dynamic performance of mobile Haptic Interfaces
IEEE Transactions on Robotics, 2008Co-Authors: Alessandro Formaglio, Federico Barbagli, Domenico Prattichizzo, Antonio GiannitrapaniAbstract:The increasing demand for virtual reality applications in several scientific disciplines feeds new research perspectives dealing with robotics, automation, and computer science. In this context, one of the topics is the design of advanced force-feedback devices allowing not only kinesthetic interaction with virtual objects but also locomotion and navigation inside virtual worlds. This has the main advantage to stimulate human vestibular apparatus, thus increasing the overall realism of simulation. Particularly, this paper deals with mobile Haptic Interfaces (MHIs), built by combining standard force-feedback devices with mobile platforms. We investigated which factors may affect the transparency of this kind of devices, identifying in mobile robot dynamics a possible cause of loss of transparency. Hence, in this paper, we present a method to analyze dynamic performance of an MHI and some basic guidelines to design controller in order to meet desired specifications. Experimental validation of the theoretical results is reported.
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ISER - An Experimental Study of the Limitations of Mobile Haptic Interfaces
Springer Tracts in Advanced Robotics, 2006Co-Authors: Federico Barbagli, Alessandro Formaglio, Antonio Giannitrapani, M. Franzini, Domenico PrattichizzoAbstract:This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z−width that can be rendered by a mobile Haptic interface will be given few parameters that characterize the Haptic device and the mobile platform that make up such interface. Such procedures are applied to the case of two different mobile Haptic Interfaces. Results are encouraging, even though limitations to the proposed procedure exist.
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an experimental study of the limitations of mobile Haptic Interfaces
International Symposium on Experimental Robotics, 2006Co-Authors: Federico Barbagli, Alessandro Formaglio, Antonio Giannitrapani, M. Franzini, Domenico PrattichizzoAbstract:This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z−width that can be rendered by a mobile Haptic interface will be given few parameters that characterize the Haptic device and the mobile platform that make up such interface. Such procedures are applied to the case of two different mobile Haptic Interfaces. Results are encouraging, even though limitations to the proposed procedure exist.
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HapticS - The effect of sensor/actuator asymmetries in Haptic Interfaces
11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2003. HAPTICS 2003. Proceedings., 2003Co-Authors: Federico Barbagli, Kenneth SalisburyAbstract:Haptic Interfaces enable us to interact with virtual objects by sensing our actions and communicating them to a virtual environment. A Haptic interface with force feedback capability will provide sensory information back to the user thus communicating the consequences of his/her actions. The quality and complexity of these interactions is dependent on how the interface is designed. When designing a Haptic interface, one must choose how many sensors and how many actuators will be used. In particular we are now seeing Interfaces which have more sensors than actuators. This "asymmetry" in sensor/actuator utilization provides for a higher dimensionality of action than sensory feedback. It is a tempting avenue for devices design due to the low cost of introducing more sensors. Yet, while this can enable more rich exploratory interactions, the lack for equal dimensionality in force feedback can lead to interactions which are energetically non-conservative. in this paper we provide a preliminary view of the properties of such "asymmetric" sensor/actuator designs. We address the design and rendering tradeoffs of these systems and introduce a framework for device analysis.
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the effect of sensor actuator asymmetries in Haptic Interfaces
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003Co-Authors: Federico Barbagli, Kenneth SalisburyAbstract:Haptic Interfaces enable us to interact with virtual objects by sensing our actions and communicating them to a virtual environment. A Haptic interface with force feedback capability will provide sensory information back to the user thus communicating the consequences of his/her actions. The quality and complexity of these interactions is dependent on how the interface is designed. When designing a Haptic interface, one must choose how many sensors and how many actuators will be used. In particular we are now seeing Interfaces which have more sensors than actuators. This "asymmetry" in sensor/actuator utilization provides for a higher dimensionality of action than sensory feedback. It is a tempting avenue for devices design due to the low cost of introducing more sensors. Yet, while this can enable more rich exploratory interactions, the lack for equal dimensionality in force feedback can lead to interactions which are energetically non-conservative. in this paper we provide a preliminary view of the properties of such "asymmetric" sensor/actuator designs. We address the design and rendering tradeoffs of these systems and introduce a framework for device analysis.
Julian Ware - One of the best experts on this subject based on the ideXlab platform.
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a power based time domain passivity control for Haptic Interfaces
IEEE Transactions on Control Systems and Technology, 2011Co-Authors: Yajun Pan, Yash P Gupta, Julian WareAbstract:In this brief, a power-based time domain passivity control is presented. The new passivity observer (PO) monitors the current power behavior and decides the activation of the passivity controller (PC). The PC output is distributed along the time index and sudden big force change is alleviated. Applications of the approach to Haptic Interfaces are simulated. Extensive comparisons with the two existing energy based approaches are made. Both simulation results and experimental results show that the performance of the proposed approach is promising in terms of stability and fidelity.
Jeehwan Ryu - One of the best experts on this subject based on the ideXlab platform.
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time domain passivity control of Haptic Interfaces
International Conference on Robotics and Automation, 2001Co-Authors: Blake Hannaford, Jeehwan RyuAbstract:A patent-pending, energy-based method is presented for controlling a Haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time-domain definition of passivity. We define a "passivity observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the "passivity controller" (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The method is tested with simulation and implementation in the Excalibur Haptic interface system. Totally stable operation was achieved under conditions such as stiffness >100 N/mm or time delays of 15 ms. The PO/PC method requires very little additional computation and does not require a dynamical model to be identified.
Kentaro Yasu - One of the best experts on this subject based on the ideXlab platform.
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magnetact magnetic sheet based Haptic Interfaces for touch devices
Human Factors in Computing Systems, 2019Co-Authors: Kentaro YasuAbstract:We describe a method for rapid prototyping of Haptic Interfaces for touch devices. A sheet-like touch interface is constructed from magnetic rubber sheets and conductive materials. The magnetic sheet is thin, and the capacitive sensor of the touch device can still detect the user's finger above the sheet because of the rubber's dielectric nature. Furthermore, tactile feedback can be customized with ease by using our magnetizing toolkit to change the magnetic patterns. Using the magnetizing toolkit, we investigated the appropriate size and thickness of Haptic Interfaces and demonstrated several Interfaces such as buttons, sliders, switches, and dials. Our method is an easy and convenient way to customize the size, shape, and Haptic feedback of a wide variety of Interfaces.
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magnetact magnetic sheet based Haptic Interfaces for touch devices
International Conference on Computer Graphics and Interactive Techniques, 2018Co-Authors: Kentaro YasuAbstract:This paper1 presents a rapid prototyping method of Haptic Interfaces for touch devices utilizing magnetic rubber sheets and conductive materials. When a magnetic sheet is thin enough, the capacitive sensor of the touch device can detect the user's finger behind the magnetic sheet due to the sheet's dielectric behavior. Furthermore, by changing the magnetic pattern of the magnetic sheet using a handy magnetizing tool, the tactile feedback can be customized within seconds. Since the construction of the interface is so simple, this method enables users to customize not only the size and shape, also the Haptic feedback of the tangible interface. We demonstrated several types of interface such as buttons, sliders, switches, and cross-keys.
