 Subjects -> ELECTRONICS (Total: 207 journals)
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Authors:
Domenico Prattichizzo;
Pages: 1 - 2
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Mathematical Model of Fingertip Skin Under Constant-Current Electrotactile
Stimulation-
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Authors:
Ziliang Zhou;Xiaoxin Wang;Yicheng Yang;Jia Zeng;Honghai Liu;
Pages: 3 - 12
Abstract: Due to low energy consumption and fast response, electrotactile feedback has shown great potential in human-machine interaction. However, regulating electrotactile perception remains challenging because of the high variability of electrode-skin impedance. Electrode-skin modelling is a common solution, but current researches are still facing many problems such as non-linearity. This paper focuses on voltage response modelling based on data-driven analysis. Two experiments targeting fingertips have been conducted. Significant correlations between pulse amplitude ($PA$), pulse width ($PW$) and peak voltage ($V_{peak}$) ($R^{2}>$0.99) have been found. A mathematical model of fingertip skin is then derived, which enables a precision fitting of the voltage response (RMSE=0.9$%$). Finally, two calibration methods are proposed for peak voltage prediction. The accuracy (RMSE=2.5$%$) is also verified under different electrode-skin conditions. The results of this paper are expected to provide novel theoretical support for precise regulation of fingertip electrotactile perception.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Closed-Loop Control of Electroadhesion Using Current Regulation
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Authors:
Zuowei Sun;Xingwei Guo;Xiaoying Sun;
Pages: 13 - 22
Abstract: Electroadhesion displays provide controllable friction between the fingertip and screen. However, the change of contact condition causes variability in the produced friction. In this paper, we demonstrate a novel method for closed-loop control using current regulation to improve the precision of the electroadhesion force regardless of contact conditions. The current sensor obtains static current (when the finger is stationary) and dynamic current (when the finger is sliding). The static current is used to estimate the apparent contact area. The estimated contact area modulates the driving voltage along with the dynamic current. To verify the proposed method, we measured electroadhesion forces under open-loop control and closed-loop control. The benefit of using this closed-loop control is shown by comparing the relative static error of open-loop control and closed-loop control. The relative error reductions achieved over 34 % (max 112 %) for four changing contact conditions.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Effects of Vibration Direction and Pressing Force on Finger Vibrotactile
Perception and Force Control-
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Authors:
Yuri De Pra;Stefano Papetti;Hanna Järveläinen;Matteo Bianchi;Federico Fontana;
Pages: 23 - 32
Abstract: This paper reports about the effects of vibration direction and finger-pressing force on vibrotactile perception, with the goal of improving the effectiveness of haptic feedback on interactive surfaces. An experiment was conducted to assess the sensitivity to normal or tangential vibration at 250 Hz of a finger exerting constant pressing forces of 0.5 or 4.9 N. Results show that perception thresholds for normal vibration depend on the applied pressing force, significantly decreasing for the stronger force level. Conversely, perception thresholds for tangential vibrations are independent of the applied force, and approximately equal the lowest thresholds measured for normal vibration.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Human Stabilization of Delay-Induced Instability of Haptic Rendering in a
Stiffness Discrimination Task-
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Authors:
Reut Nomberg;Ilana Nisky;
Pages: 33 - 45
Abstract: Towards developing a coupled stability theory for haptic systems, we study the interaction of operators with time-delayed force feedback. In this work, we analyzed and validated experimentally the stability boundaries of an uncoupled system – without considering the human. We then designed an experiment in which the participants used a haptic device to interact with virtual elastic force fields in a stiffness discrimination task. We compared the performance and kinematics of users in uncoupled-unstable and uncoupled-stable conditions and characterized the stabilizing contribution of the users. We found that the users were able to perform the task regardless of the uncoupled-stability conditions. In addition, in uncoupled-unstable conditions, users maintained movement characteristics that were important for exploratory mediation, such as depth and duration of the movement, whereas other characteristics were not preserved. The results were reproduced in a simulation of the human controller that combined an inverse model and an optimal feedback controller. Adequate performance under the uncoupled-unstable yet coupled-stable conditions supports the potential benefit of designing for coupled stability of haptic systems. This could lead to the use of less conservative controllers than state-of-the-art solutions in haptic and teleoperation systems, and advance the fidelity of haptic feedback.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Effects of Physical Hardness on the Perception of Rendered Stiffness in an
Encountered-Type Haptic Display-
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Authors:
Naghmeh Zamani;Heather Culbertson;
Pages: 46 - 56
Abstract: Rendering stable hard surfaces is an important problem in haptics; current haptic devices cannot render hard objects and free space together. In our previous work, we addressed these limitations using an encountered-type haptic display system, which showed significant improvements compared to traditional rendering methods. In our approach, we attach a plate with the desired hardness to the kinesthetic device's end-effector, which the user interacts with using an untethered stylus. This method allows us to directly change the hardness of the end-effector based on the rendered object. In this paper, we evaluate how changing the hardness of the end-effector can mask the device's stiffness and affect the user's perception of the interaction. Our human subject experiment results indicate that when the end-effector is made of a hard material, it is difficult for users to perceive the stiffness change rendered by the device. On the other hand, this stiffness change is easily distinguished when the end-effector is made of a soft material. These results show promise for our combined hardness-stiffness display in avoiding the limitations of haptic devices when rendering hard surfaces.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Wrapping Haptic Displays Around Robot Arms to Communicate Learning
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Authors:
Antonio Alvarez Valdivia;Soheil Habibian;Carly A. Mendenhall;Francesco Fuentes;Ritish Shailly;Dylan P. Losey;Laura H. Blumenschein;
Pages: 57 - 72
Abstract: Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important for the human teacher to understand what their robot is learning. Visual displays can communicate this information; however, we hypothesize that visual feedback alone misses out on the physical connection between the human and robot. In this paper we introduce a novel class of soft haptic displays that wrap around the robot arm, adding signals without affecting that interaction. We first design a pneumatic actuation array that remains flexible in mounting. We then develop single and multi-dimensional versions of this wrapped haptic display, and explore human perception of the rendered signals during psychophysic tests and robot learning. We ultimately find that people accurately distinguish single-dimensional feedback with a Weber fraction of 11.4%, and identify multi-dimensional feedback with 94.5% accuracy. When physically teaching robot arms, humans leverage the single- and multi-dimensional feedback to provide better demonstrations than with visual feedback: our wrapped haptic display decreases teaching time while increasing demonstration quality. This improvement depends on the location and distribution of the wrapped haptic display.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Learning Haptic-Based Object Pose Estimation for In-Hand Manipulation
Control With Underactuated Robotic Hands-
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Authors:
Osher Azulay;Inbar Ben-David;Avishai Sintov;
Pages: 73 - 85
Abstract: Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual perception of the hand and object can be limited in occluded or partly-occluded environments. In this paper, we aim to explore the use of haptics, i.e., kinesthetic and tactile sensing, for pose estimation and in-hand manipulation with underactuated hands. Such haptic approach would mitigate occluded environments where line-of-sight is not always available. We put an emphasis on identifying the feature state representation of the system that does not include vision and can be obtained with simple and low-cost hardware. For tactile sensing, therefore, we propose a low-cost and flexible sensor that is mostly 3D printed along with the finger-tip and can provide implicit contact information. Taking a two-finger underactuated hand as a test-case, we analyze the contribution of kinesthetic and tactile features along with various regression models to the accuracy of the predictions. Furthermore, we propose a Model Predictive Control (MPC) approach which utilizes the pose estimation to manipulate objects to desired positions solely based on haptics. We have conducted a series of experiments that validate the ability to estimate poses of various objects with different geometry, stiffness and texture, and show manipulation to goals in the workspace with relatively high accuracy.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- A Haptic Shared Autonomy With Partial Orientation Regulation for DoF
Deficiency in Remote Side-
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Authors:
Gaofeng Li;Fernando Caponetto;Xinyu Wu;Ioannis Sarakoglou;Nikos G. Tsagarakis;
Pages: 86 - 95
Abstract: Orientation regulation permits an autonomous controller to regulate the operators' orientation commands automatically. Although kinds of orientation regulation strategies have been proposed for various purposes, few works have focused on the partial orientation regulation (POR), which requires an autonomous controller to prevent the unreachable rotational motion for safety, while preserving the remaining motions for intuitiveness. However, the POR is deeply demanded for systems with Degree-of-Freedom (DoF) deficiency in remote side. The POR is a more challenging task owing to: First, it is difficult to decompose an orientation into reachable and unreachable components due to the non-linear structure of the rotation group SO(3). Second, it is non-trivial to design a haptic rendering algorithm which can indicate the missing DoF information to human operators. To address the rotational DoF deficiency, we propose a haptic shared autonomy with POR ability, based on the perpendicular curve theory in SO(3). The proposed method can partially regulate the operator's orientation command to discard the unreachable motions and preserve the remaining motions for follower robots. Here the conventional “master” and “slave” are all replaced by “leader” and “follower” to avoid the concern of association to racism and human subjugation. In addition, a haptic rendering algorithm is designed to display correct haptic cues about the missing DoF to operators. The simulation and experimental results validate the effectiveness of the proposed method.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- A Novel Refreshable Braille Display Based on the Layered Electromagnetic
Driving Mechanism of Braille Dots-
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Authors:
Hao Chen;Wentao Tao;Chang Liu;Qi Shen;Yuecheng Wu;Liuxia Ruan;Wenzhen Yang;
Pages: 96 - 105
Abstract: In the digital era, Braille displays enable visually impaired people to easily access information. Different from traditional piezoelectric Braille displays, a novel electromagnetic Braille display is realized in this study. The novel display has the advantages of a stable performance, a long service life and a low cost and is based on an innovative layered electromagnetic driving mechanism of Braille dots, which can achieve a dense arrangement of Braille dots and provide a sufficient support force for them. The T-shaped screw compression spring, which causes the Braille dots to fall back instantaneously, is optimized to achieve a high refresh frequency and to enable visually impaired people to read Braille quickly. The experimental results show that under an input voltage of 6 V, the Braille display can work stably and reliably and provide a good fingertip touch; the Braille dot support force is greater than 150 mN, the maximum refresh frequency can reach 50 Hz, and the operating temperature is lower than 32 °C. Therefore, this cost-effective Braille display is expected to benefit a vast number of low-income visually impaired people in developing countries and improve their learning, working and living conditions.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Biomechanically-Consistent Skin Stretch as an Intuitive Mechanism for
Sensory Feedback: A Preliminary Investigation in the Lower Limb-
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Authors:
Jenny A. Kent;
Pages: 106 - 111
Abstract: The proprioceptive loss accompanied by lower limb amputation can impair function and mobility. We explore a simple, mechanical skin-stretch array configured to generate superficial tissue behaviour that might occur with movement about an intact joint. Four adhesive pads attached around the circumference of the lower leg were connected via cords to a remote “foot” mounted on a ball joint attached to the underside of a fracture boot, such that “foot” reorientation would result in skin stretch. In two discrimination experiments performed with and without the connection, with no view of the mechanism, and with minimal training, unimpaired adults (i) estimated foot orientation following passive foot rotations (eight directions), either with or without contact between the lower leg and boot, and (ii) actively lowered the “foot” to estimate slope orientation (four directions). In (i), 56-60% of responses (depending on contact condition) were correct and 88-94% were either correct or one of the two adjacent choices. In (ii), 56% of responses were correct. In contrast, without the connection, participants performed near or no different to chance. A biomechanically-consistent skin stretch array may be an intuitive means to convey proprioceptive information from an artificial or poorly innervated joint.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
- Affect Recognition in Hand-Object Interaction Using Object-Sensed Tactile
and Kinematic Data-
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Authors:
Radoslaw Niewiadomski;Cigdem Beyan;Alessandra Sciutti;
Pages: 112 - 117
Abstract: We investigate the recognition of the affective states of a person performing an action with an object, by processing the object-sensed data. We focus on sequences of basic actions such as grasping and rotating, which are constituents of daily-life interactions. iCube, a 5 cm cube, was used to collect tactile and kinematics data that consist of tactile maps (without information on the pressure applied to the surface), and rotations. We conduct two studies: classification of i) emotions and ii) the vitality forms. In both, the participants perform a semi-structured task composed of basic actions. For emotion recognition, 237 trials by 11 participants associated with anger, sadness, excitement, and gratitude were used to train models using 10 hand-crafted features. The classifier accuracy reaches up to 82.7%. Interestingly, the same classifier when learned exclusively with the tactile data performs on par with its counterpart modeled with all 10 features. For the second study, 1135 trials by 10 participants were used to classify two vitality forms. The best-performing model differentiated gentle actions from rude ones with an accuracy of 84.85%. The results also confirm that people touch objects differently when performing these basic actions with different affective states and attitudes.
PubDate:
Jan.-March 1 2023
Issue No: Vol. 16, No. 1 (2023)
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