Development of 2-DOF Haptic Device Driven Directly by Shaft Motors

Hironori Ogawa; Makoto Shimojo

doi:10.20965/jrm.2006.p0392

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JRM Vol.18 No.4 pp. 392-400

doi: 10.20965/jrm.2006.p0392

(2006)

Paper:

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Development of 2-DOF Haptic Device Driven Directly by Shaft Motors

Hironori Ogawa and Makoto Shimojo

Department of Mechanical Engineering and Intelligent Systems, University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan

Received:

January 20, 2006

Accepted:

May 9, 2006

Published:

August 20, 2006

Keywords:

haptic display, shaft motor, linear actuator, texture presentation

Abstract

Human beings acquire information such as surface conditions, hardness, temperature, and smoothness through feel. The texture of materials and other tactile sensations greatly affect tactile perception such as feelings of comfort and discomfort. We developed a haptic device using direct drive by shaft motors capable of simultaneous horizontal and vertical direct drive. This enables texture to be presented realistically. We introduce the structure and features of the haptic device and present basic experiments verifying its feasibility.

Cite this article as:

H. Ogawa and M. Shimojo, “Development of 2-DOF Haptic Device Driven Directly by Shaft Motors,” J. Robot. Mechatron., Vol.18 No.4, pp. 392-400, 2006.

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References

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[4] T. H. Massie, and J. K. Salisbury, “The PHANToM Haptic Interface: A Device for Probing Virtual Objects,” Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, Nov., 1994.
[5] T. H. Massie, “Virtual Touch Through Point Interaction,” International Conference on Artificial Reality and Tele-existence, pp. 19-38, 1996.
[6] K. Akahane, S. Hasegawa, Y. Koike, and M. Sato, “The High Definition Haptic Rendering by the Update Frequency of 10kHz,” Transactions of the Virtual Reality Society of Japan, Vol.9, No.3, pp. 217-226, 2004.
[7] M. Shimojo, and T. Niki, “A Development of Compact and High Responce Haptics Display System,” The IEICE transactions on information and systems, PT.2, Vol.J87-D-II, No.5, pp. 1133-1141, 2004.
[8] G. Robles-De-La-Torre, and V. Hayward, “Force Can Overcome Object Geometry in the Perception of Shape Through Active Touch,” Nature, Vol.414, pp. 445-448, 2001.
[9] S. Ichikawa, “Invitation to Psychological Measuring Method,” SAIENSU-SHA Co.,Ltd., Feb., 1991.
[10] S. J. Bolanowski, Jr., G. A. Gescheider, R. T. Verrillo, and C. M. Checkosky, “Four Channels Mediate the Mechanical Aspects of Touch,” Journal of the Accoustical Society of America, Vol.84, No.5, pp. 1680-1694, 1988.
[11] M. Shimojo, “Information Handling of Cutaneous Sense,” Journal of the Society of Instrument and Control Engineers, Vol.41, No.10, pp. 723-727, 2002.
[12] R. F. Schmidt (translated by Y. Iwamura et al.), “Fundamentals of Sensory Physiology, Third, Revised and Expanded Edition,” KINPODO INC., 1989.
[13] Y. Sakaguchi, “Haptic Recognition System Based on Sensory Integration and Active Perception,” Transactions of the Society of Instrument and Control Engineers, Vol.31, No.8, pp. 1217-1226, Jul., 1995.
[14] R. S. Johansson, and A. B. Vallbo, “Tactile Sensory Coding in the Glabrous Skin of the Human Hand,” Technical Information on Neural Science, pp. 27-32, 1983.
[15] H. Ogawa, and M. Shimojo, “Materials Texture Presentment System –Cloth Texture Presentment by Tactile Information–,” The 9th Virtual Reality Society of Japan Annual Conference, pp. 31-33, 2004.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. B. Shimoga, “A Survey of Perceptual Feedback Issues in Dexterous Telemanipulation: Part I. Finger Force Feedback,” Proc. VRAIS’93, IEEE, pp. 263-270, 1993.

[2] [2] K. B. Shimoga, “A Survey of Perceptual Feedback Issues in Dexterous Telemanipulation: Part II. Finger Touch Feedback,” Proc. VRAIS’93, IEEE, pp. 271-279, 1993.

[3] [3] M. Konyo, S. Tadokoro, T. Takamori, K. Oguro, and K. Tokuda, “Tactile Feeling Display for Touch of Cloth Using Soft High Polymer Gel Actuators,” Transactions of the Virtual Reality Society of Japan, Vol.6, No.4, pp. 323-328, 2001.

[4] [4] T. H. Massie, and J. K. Salisbury, “The PHANToM Haptic Interface: A Device for Probing Virtual Objects,” Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, Nov., 1994.

[5] [5] T. H. Massie, “Virtual Touch Through Point Interaction,” International Conference on Artificial Reality and Tele-existence, pp. 19-38, 1996.

[6] [6] K. Akahane, S. Hasegawa, Y. Koike, and M. Sato, “The High Definition Haptic Rendering by the Update Frequency of 10kHz,” Transactions of the Virtual Reality Society of Japan, Vol.9, No.3, pp. 217-226, 2004.

[7] [7] M. Shimojo, and T. Niki, “A Development of Compact and High Responce Haptics Display System,” The IEICE transactions on information and systems, PT.2, Vol.J87-D-II, No.5, pp. 1133-1141, 2004.

[8] [8] G. Robles-De-La-Torre, and V. Hayward, “Force Can Overcome Object Geometry in the Perception of Shape Through Active Touch,” Nature, Vol.414, pp. 445-448, 2001.

[9] [9] S. Ichikawa, “Invitation to Psychological Measuring Method,” SAIENSU-SHA Co.,Ltd., Feb., 1991.

[10] [10] S. J. Bolanowski, Jr., G. A. Gescheider, R. T. Verrillo, and C. M. Checkosky, “Four Channels Mediate the Mechanical Aspects of Touch,” Journal of the Accoustical Society of America, Vol.84, No.5, pp. 1680-1694, 1988.

[11] [11] M. Shimojo, “Information Handling of Cutaneous Sense,” Journal of the Society of Instrument and Control Engineers, Vol.41, No.10, pp. 723-727, 2002.

[12] [12] R. F. Schmidt (translated by Y. Iwamura et al.), “Fundamentals of Sensory Physiology, Third, Revised and Expanded Edition,” KINPODO INC., 1989.

[13] [13] Y. Sakaguchi, “Haptic Recognition System Based on Sensory Integration and Active Perception,” Transactions of the Society of Instrument and Control Engineers, Vol.31, No.8, pp. 1217-1226, Jul., 1995.

[14] [14] R. S. Johansson, and A. B. Vallbo, “Tactile Sensory Coding in the Glabrous Skin of the Human Hand,” Technical Information on Neural Science, pp. 27-32, 1983.

[15] [15] H. Ogawa, and M. Shimojo, “Materials Texture Presentment System –Cloth Texture Presentment by Tactile Information–,” The 9th Virtual Reality Society of Japan Annual Conference, pp. 31-33, 2004.