Kinesthetic Illusion of Being Pulled Sensation Enables Haptic Navigation for Broad Social Applications

Many handheld force-feedback devices have been proposed to provide a rich experience with mobile devices. However, previously reported devices have been unable to generate both constant and translational force. They can only generate transient rotational force since they use a change in angular momentum. Here, we exploit the nonlinearity of human perception to generate both constant and translational force. Specifically, a strong acceleration is generated for a very brief period in the desired direction, while a weaker acceleration is generated over a longer period in the opposite direction. The internal human haptic sensors do not detect the weaker acceleration, so the original position of the mass is \"washed out\". The result is that the user is tricked into perceiving a unidirectional force. This force can be made continuous by repeating the motions. This chapter describes the pseudoattraction force technique, which is a new force feedback technique that enables mobile devices to create a the sensation of two-dimensional force. A prototype was fabricated in which four slider-crank mechanism pairs were arranged in a cross shape and embedded in a force feedback display. Each slider-crank mechanism generates a force vector. By using the sum of the generated vectors, which are linearly independent, the force feedback display can create a force sensation in any arbitrary direction on a two-dimensional plane. We also introduce an interactive application with the force feedback display, an interactive robot, and a vision-based positioning system

Collaborative billiARds: Towards the ultimate gaming experience

Abstract. In this paper, we identify the features that enhance gaming experience in Augmented Reality (AR) environments. These include Tangible User Interface, force-feedback, audio-visual cues, collaboration and mobility. We base our findings on lessons learnt from existing AR games. We apply these results to billiARds which is an AR system that, in addition to visual and aural cues, provides force-feedback. billiARds supports interaction through a visionbased tangible AR interface. Two users can easily operate the proposed system while playing Collaborative billiARds game around a table. The users can collaborate through both virtual and real objects. User study confirmed that the resulting system delivers enhanced gaming experience by supporting the five features highlighted in this paper

Collaborative billiARds: Towards the Ultimate Gaming Experience

Abstract. In this paper, we identify the features that enhance gaming experience in Augmented Reality (AR) environments. These include Tangibl

Soft Pneumatic Actuator Skin with Piezoelectric Sensors for Vibrotactile Feedback

The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid surfaces. Although there have been various research efforts in creating tactile feedback to improve various haptic interfaces and master–slave manipulators, we are yet to see a comprehensive device that can both supply vibratory actuation and tactile sensing. This paper describes a soft pneumatic actuator (SPA)-based skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. We describe the design and fabrication of a 1.4 mm-thick vibratory SPA – skin that is integrated with piezoelectric sensors. We examine in detail the mechanical performance compared to the SPA model and the sensitivity of the sensors for the application in vibrotactile feedback. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT)-based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop

Haptic technology for micro-robotic cell injection training systems — a review

Currently, the micro-robotic cell injection procedure is performed manually by expert human bio-operators. In order to be proficient at the task, lengthy and expensive dedicated training is required. As such, effective specialized training systems for this procedure can prove highly beneficial. This paper presents a comprehensive review of haptic technology relevant to cell injection training and discusses the feasibility of developing such training systems, providing researchers with an inclusive resource enabling the application of the presented approaches, or extension and advancement of the work. A brief explanation of cell injection and the challenges associated with the procedure are first presented. Important skills, such as accuracy, trajectory, speed and applied force, which need to be mastered by the bio-operator in order to achieve successful injection, are then discussed. Then an overview of various types of haptic feedback, devices and approaches is presented. This is followed by discussion on the approaches to cell modeling. Discussion of the application of haptics to skills training across various fields and haptically-enabled virtual training systems evaluation are then presented. Finally, given the findings of the review, this paper concludes that a haptically-enabled virtual cell injection training system is feasible and recommendations are made to developers of such systems

Virtual reality training for micro-robotic cell injection

This research was carried out to fill the gap within existing knowledge on the approaches to supplement the training for micro-robotic cell injection procedure by utilising virtual reality and haptic technologies