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Contact Location Display for Haptic Perception of Curvature and Object Motion

Authors:

William R. Provancher,

Mark R. Cutkosky,

Katherine J. Kuchenbecker,

Günter NiemeyerAuthors Info & Claims

International Journal of Robotics Research, Volume 24, Issue 9

Pages 691 - 702

https://doi.org/10.1177/0278364905057121

Published: 01 September 2005 Publication History

Abstract

We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user's fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These experiments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks.

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Cited By

Bouzbib EBailly GHaliyo SFrey P(2021)“Can I Touch This?”: Survey of Virtual Reality Interactions via Haptic SolutionsProceedings of the 32nd Conference on l'Interaction Homme-Machine10.1145/3450522.3451323(1-16)Online publication date: 13-Apr-2021
https://dl.acm.org/doi/10.1145/3450522.3451323
Young EKuchenbecker KKitamura YQuigley AIsbister KIgarashi TBjørn PDrucker S(2021)Ungrounded Vari-Dimensional Tactile Fingertip Feedback for Virtual Object InteractionProceedings of the 2021 CHI Conference on Human Factors in Computing Systems10.1145/3411764.3445369(1-14)Online publication date: 6-May-2021
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Verschoor MCasas DOtaduy M(2020)Tactile rendering based on skin stress optimizationACM Transactions on Graphics10.1145/3386569.339239839:4(90:1-90:13)Online publication date: 12-Aug-2020
https://dl.acm.org/doi/10.1145/3386569.3392398
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Index Terms

Contact Location Display for Haptic Perception of Curvature and Object Motion

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Published In

cover image International Journal of Robotics Research

International Journal of Robotics Research Volume 24, Issue 9

September 2005

93 pages

ISSN:0278-3649

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Publisher

Sage Publications, Inc.

United States

Publication History

Published: 01 September 2005

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Cited By

Bouzbib EBailly GHaliyo SFrey P(2021)“Can I Touch This?”: Survey of Virtual Reality Interactions via Haptic SolutionsProceedings of the 32nd Conference on l'Interaction Homme-Machine10.1145/3450522.3451323(1-16)Online publication date: 13-Apr-2021
https://dl.acm.org/doi/10.1145/3450522.3451323
Young EKuchenbecker KKitamura YQuigley AIsbister KIgarashi TBjørn PDrucker S(2021)Ungrounded Vari-Dimensional Tactile Fingertip Feedback for Virtual Object InteractionProceedings of the 2021 CHI Conference on Human Factors in Computing Systems10.1145/3411764.3445369(1-14)Online publication date: 6-May-2021
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Verschoor MCasas DOtaduy M(2020)Tactile rendering based on skin stress optimizationACM Transactions on Graphics10.1145/3386569.339239839:4(90:1-90:13)Online publication date: 12-Aug-2020
https://dl.acm.org/doi/10.1145/3386569.3392398
Preechayasomboon PIsrar ASamad MBernhaupt RMueller FVerweij DAndres JMcGrenere JCockburn AAvellino IGoguey ABjørn PZhao SSamson BKocielnik R(2020)Chasm: A Screw Based Expressive Compact Haptic ActuatorProceedings of the 2020 CHI Conference on Human Factors in Computing Systems10.1145/3313831.3376512(1-13)Online publication date: 21-Apr-2020
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Lee JSinclair MGonzalez-Franco MOfek EHolz CBrewster SFitzpatrick GCox AKostakos V(2019)TORCProceedings of the 2019 CHI Conference on Human Factors in Computing Systems10.1145/3290605.3300301(1-13)Online publication date: 2-May-2019
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Kang ZKim K(2018)Multimodal perception study on virtual 3D curved textures with vision and touch for interactive multimedia systemsMultimedia Tools and Applications10.1007/s11042-017-4392-877:2(2209-2223)Online publication date: 1-Jan-2018
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Pacchierotti CSinclair SSolazzi MFrisoli AHayward VPrattichizzo D(2017)Wearable Haptic Systems for the Fingertip and the HandIEEE Transactions on Haptics10.1109/TOH.2017.268900610:4(580-600)Online publication date: 1-Oct-2017
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Leonardis DSolazzi MBortone IFrisoli A(2017)A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact ForcesIEEE Transactions on Haptics10.1109/TOH.2016.264029110:3(305-316)Online publication date: 1-Jul-2017
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Yoon WHwang WPerry J(2016)Study on effects of effects of surface properties in haptic perception of virtual curvatureInternational Journal of Computer Applications in Technology10.5555/2961017.296102053:3(236-243)Online publication date: 1-Jan-2016
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