41 research outputs found
A Parallel Elastic Haptic Thimble for Wide Bandwidth Cutaneous Feedback.
Design of wearable fingertip haptic devices is often a compromise between conflicting features: lightness and compactness, against rich and neat haptic feedback. On one side direct drive actuators (i.e. voice coils) provide a clean haptic feedback with high dynamics, with limited maximum output forces. On the other side mechanical transmissions with reduction can increase output force of micro sized motors, at the cost of slower and often noisy output signals. In this work we present a compact fingertip haptic device based on a parallel elastic mechanism: it merges the output of two differently designed actuators in a single, wide bandwidth haptic feedback. Each actuator is designed with a different role: one for rendering fast, high frequency force components, the other for rendering constant to low frequency components. In the work we present design and implementation of the device, followed by experimental characterization of its performance in terms of frequency response and rendering capabilities
Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments
Haptic systems have only recently started to be designed with wearability
in mind. Compact, unobtrusive, inexpensive, easy-to-wear, and
lightweight haptic devices enable researchers to provide compelling
touch sensations to multiple parts of the body, significantly increasing
the applicability of haptics in many fields, such as robotics, rehabilitation,
gaming, and immersive systems. In this respect, wearable
haptics has a great potential in the fields of virtual and augmented
reality. Being able to touch virtual objects in a wearable and unobtrusive
way may indeed open new exciting avenues for the fields of
haptics and VR. This work presents a novel wearable haptic system
for immersive virtual reality experiences. It conveys the sensation
of touching objects made of different materials, rendering pressure
and texture stimuli through a moving platform and a vibrotactile
abbrv-doi-hyperref-narrowmotor. The device is composed of two
platforms: one placed on the nail side of the finger and one in contact
with the finger pad, connected by three cables. One small servomotor
controls the length of the cables, moving the platform towards or
away from the fingertip. One voice coil actuator, embedded in the
platform, provides vibrotactile stimuli to the user
Haptic Sketches on the Arm for Manipulation in Virtual Reality
We propose a haptic system that applies forces or skin deformation to the
user's arm, rather than at the fingertips, for believable interaction with
virtual objects as an alternative to complex thimble devices. Such a haptic
system would be able to convey information to the arm instead of the
fingertips, even though the user manipulates virtual objects using their hands.
We developed a set of haptic sketches to determine which directions of skin
deformation are deemed more believable during a grasp and lift task. Subjective
reports indicate that normal forces were the most believable feedback to
represent this interaction.Comment: 2 pages, work in progres
A Review of Non-Invasive Haptic Feedback stimulation Techniques for Upper Extremity Prostheses
A sense of touch is essential for amputees to reintegrate into their social and work life. The design of the next generation of the prostheses will have the ability to effectively convey the tactile information between the amputee and the artificial limbs. This work reviews non-invasive haptic feedback stimulation techniques to convey the tactile information from the prosthetic hand to the amputee’s brain. Various types of actuators that been used to stimulate the patient’s residual limb for different types of artificial prostheses in previous studies have been reviewed in terms of functionality, effectiveness, wearability and comfort. The non-invasive hybrid feedback stimulation system was found to be better in terms of the stimulus identification rate of the haptic prostheses’ users. It can be conclude that integrating hybrid haptic feedback stimulation system with the upper limb prostheses leads to improving its acceptance among users
Effects of Haptic Feedback on the Wrist during Virtual Manipulation
As an alternative to thimble devices for the fingertips, we investigate
haptic systems that apply stimulus to the user's forearm. Our aim is to provide
effective interaction with virtual objects, despite the lack of co-location of
virtual and real-world contacts, while taking advantage of relatively large
skin area and ease of mounting on the forearm. We developed prototype wearable
haptic devices that provide skin deformation in the normal and shear
directions, and performed a user study to determine the effects of haptic
feedback in different directions and at different locations near the wrist
during virtual manipulation. Participants performed significantly better while
discriminating stiffness values of virtual objects with normal forces compared
to shear forces. We found no differences in performance or participant
preferences with regard to stimulus on the dorsal, ventral, or both sides of
the forearm.Comment: 7 pages, submitted conference paper for IEEE Haptics Symposium 202
Effects of Haptic Feedback on the Wrist during Virtual Manipulation
We propose a haptic system for virtual manipulation to provide feedback on
the user's forearm instead of the fingertips. In addition to visual rendering
of the manipulation with virtual fingertips, we employ a device to deliver
normal or shear skin-stretch at multiple points near the wrist. To understand
how design parameters influence the experience, we investigated the effect of
the number and location of sensory feedback on stiffness perception.
Participants compared stiffness values of virtual objects, while the haptic
bracelet provided interaction feedback on the dorsal, ventral, or both sides of
the wrist. Stiffness discrimination judgments and duration, as well as
qualitative results collected verbally, indicate no significant difference in
stiffness perception with stimulation at different and multiple locations.Comment: 2 pages, work-in-progress paper on haptics symposium, 202
Rendering of pressure and textures using wearable haptics in immersive VR environments
International audienceHaptic systems have only recently started to be designed with weara-bility in mind. Compact, unobtrusive, inexpensive, easy-to-wear, and lightweight haptic devices enable researchers to provide compelling touch sensations to multiple parts of the body, significantly increasing the applicability of haptics in many fields, such as robotics, rehabilitation , gaming, and immersive systems. In this respect, wearable haptics has a great potential in the fields of virtual and augmented reality. Being able to touch virtual objects in a wearable and unobtrusive way may indeed open new exciting avenues for the fields of haptics and VR. This work presents a novel wearable haptic system for immersive virtual reality experiences. It conveys the sensation of touching objects made of different materials, rendering pressure and texture stimuli through a moving platform and a vibrotactile motor. The device is composed of two platforms: one placed on the nail side of the finger and one in contact with the finger pad, connected by three cables. One small servomotor controls the length of the cables, moving the platform towards or away from the fingertip. One voice coil actuator, embedded in the platform, provides vibrotactile stimuli to the user