A Wave Variable Approach with Multiple Channel Architecture for Teleoperated System

© 2013 IEEE. Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. Wave variable is an effective algorithm to achieve a good stable capability. However, some traditional wave variable methods may decrease the performance of transparency and suffer the impacts of wave reflection. To deal with the problem of stability and transparency in teleoperation, in this paper, a novel wave variable method with four channel is presented to achieve stable tracking in position and force. In addition, the proposed method can achieve the distortion compensation and reduce the impacts of wave reflection. The simulation experimental results verified the tracking performance of the proposed method

Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics

A novel sensory substitution technique is presented. Kinesthetic and cutaneous force feedback are substituted by cutaneous feedback (CF) only, provided by two wearable devices able to apply forces to the index finger and the thumb, while holding a handle during a teleoperation task. The force pattern, fed back to the user while using the cutaneous devices, is similar, in terms of intensity and area of application, to the cutaneous force pattern applied to the finger pad while interacting with a haptic device providing both cutaneous and kinesthetic force feedback. The pattern generated using the cutaneous devices can be thought as a subtraction between the complete haptic feedback (HF) and the kinesthetic part of it. For this reason, we refer to this approach as sensory subtraction instead of sensory substitution. A needle insertion scenario is considered to validate the approach. The haptic device is connected to a virtual environment simulating a needle insertion task. Experiments show that the perception of inserting a needle using the cutaneous-only force feedback is nearly indistinguishable from the one felt by the user while using both cutaneous and kinesthetic feedback. As most of the sensory substitution approaches, the proposed sensory subtraction technique also has the advantage of not suffering from stability issues of teleoperation systems due, for instance, to communication delays. Moreover, experiments show that the sensory subtraction technique outperforms sensory substitution with more conventional visual feedback (VF)

空中ジェスチャ・インタラクションにおける触覚提示の高臨場感化および安定化に関する研究

Tohoku University昆陽雅司課

THE EFFECT OF HAPTIC INTERACTION AND LEARNER CONTROL ON STUDENT PERFORMANCE IN AN ONLINE DISTANCE EDUCATION COURSE

Today’s learners are taking advantage of a whole new world of multimedia and hypermedia experiences to gain understanding and construct knowledge. While at the same time, teachers and instructional designers are producing these experiences at rapid paces. Many angles of interactivity with digital content continue to be researched, as is the case with this study. The purpose of this study is to determine whether there is a significant difference in the performance of distance education students who exercise learner control interactivity effectively through a traditional input device versus students who exercise learner control interactivity through haptic input methods. This study asks three main questions about the relationship and potential impact touch input had on the interactivity sequence a learner chooses while participating in an online distance education course. Effects were measured by using criterion from logged assessments within one module of a distance education course. This study concludes that learner control sequence choices did have significant effects on learner outcomes. However, input method did not. The sequence that learners chose had positive effects on scores, the number of attempts it took to pass assessments, and the overall range of scores per assessment attempts. Touch input learners performed as well as traditional input learners, and summative first sequence learners outperformed all other learners. These findings support the beliefs that new input methods are not detrimental and that learner-controlled options while participating in digital online courses are valuable for learners, under certain conditions