Haptics: Perception, Devices, Mobility, and Communication

Name: Haptics: Perception, Devices, Mobility, and Communication | 8th International Conference, EuroHaptics 2012, Tampere, Finland, June 13-15, 2012 Proceedings, Part I
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8th International Conference, EuroHaptics 2012, Tampere, Finland, June 13-15, 2012 Proceedings, Part I

Poika Isokoski Jukka Springare(Herausgeber*in)

Springer (Verlag)

Erschienen am 30. Mai 2012

XVI, 650 Seiten

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978-3-642-31401-8 (ISBN)

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Inhalt

Title
Preface
Organization
Table of Contents
Long Papers
A Novel Approach for Pseudo-haptic Textures Based on Curvature Information
Introduction
Related Work
Pseudo-haptic Textures Based on Depth Maps
Haptic Perception Using Curvature Information
Pseudo-haptic Textures Based on Curvature
Algorithm Description
Comparison with the Depth-Based Approach
User Evaluation
Procedure
Experimental Design and Hypotheses
Experimental Apparatus and Population
Results
Discussion
Conclusion
References
Cursor Navigation Using Haptics for Motion-Impaired Computer Users
Introduction
Related Work
Target Distracters
Factors Affecting Fitts' Law
Joystick Control
Methods
Workbox Implementation
Point-and-Click Task
Results
Missed-Clicks and Movement time
Distracters along Task Axis
Cursor Control for Severe Impairments
Conclusions and Discussion
References
Modifying an Identified Angle of Edged Shapes Using Pseudo-haptic Effects
Introduction
Related Work
Modification of an Identified Angle of Edges
Composition of Video See-through System
Algorithm for Visual Feedback Composition
Experiment
Results and Discussion
Conclusion and Future Work
References
Transparency Improvement in Haptic Devices with a Torque Compensator Using Motor Current
Introduction
Torque Compensator Based on Motor Current (TCBMC)
Experiments and Results
Experimental Setup
System Parameter Identification and Velocity/Acceleration Estimation
Free motion Transparency Experiment
Virtual Load Simulation
Transparency Bandwidth
Conclusions
References
Finite Element Modeling of a Vibrating Touch Screen Actuated by Piezo Patches for Haptic Feedback
Introduction
Our Approach
Modeling
Results
Discussion
Future Work
References
Evidence for 'Visual Enhancement of Touch' Mediated by Visual Displays and Its Relationship with Body Ownership
Introduction
Materials and Methods
Results
Reaction Times
Questionnaires
Conclusions and Discussion
References
On the Perceptual Artifacts Introducedby Packet Losses on the Forward Channel of Haptic Telemanipulation Sessions
Introduction
Real-Time Haptic Applications
Haptic Data Reduction
Packet Loss in the Feedback Channel
Packet Loss in the Forward Channel
Velocity Commanding of TPTM Systems
Impact of Packet Losses on the Signal Prediction
Artifacts due to Position/Velocity Packet Losses
Experimental Setup
Experimental Observations: Haptic Artifacts
Conclusion
References
Tactile Emotions: A Vibrotactile Tactile Gamepad for Transmitting Emotional Messages to Children with Autism
Introduction
Actuation Concept
Actuation Design and Implementation
User Studies
Conclusion
References
Cognitive Load Can Explain Differences in Active and Passive Touch
Introduction
Method
Participants
Stimuli and Apparatus
Procedure
Design and Analysis
Results
Discussion
References
Haptics in Between-Person Object Transfer
Introduction
Method
Participants
Apparatus
Procedure
Design and Analyses
Results
Grip Force Modulation and Release Time of the Passer
Grip Force, Interaction Force and Contact Period
Discussion
References
New Control Architecture Based on PXI for a 3-Finger Haptic Device Applied to Virtual Manipulation
Introduction
System Requirements
3-Finger Haptic Device
General Requirements for Haptic Devices
Specific Requirements
Electronic Hardware
Real Time Controller
FPGA
Power Electronics
Software Architecture
Applications
Conclusion
References
Combining Brain-Computer Interfacesand Haptics: Detecting Mental Workload to Adapt Haptic Assistance
Introduction
Related Work
Haptic Guidance
BCI
Haptic for BCI
Using Mental Workload to Adapt Haptic Assistance
Evaluation
Objectives and Hypotheses
Population
Apparatus
The Experimental Task
The Virtual Environment, Haptic Force and Collision Detection.
The Haptic Guide.
A Mental Workload Index.
Procedure
Collected Data
Results
Discussion
Conclusion
References
Development of Intuitive Tactile Navigational Patterns
Introduction
The Study
The Viflex Device
Establishing Spatiotemporal Thresholds and Optimal Exploration Mode
Developing Intuitive Navigational Patterns
Discussion
References
FootGlove: A Haptic Device Supporting the Customer in the Choice of the Best Fitting Shoes
Introduction
The FootGlove system
The FootGlove
"Growing in Length" Mechanism Description
Mechanism Dimensioning
"Net" and "width Mechanisms" Description
Conclusion
Further Work
References
Discrimination of Springs with Vision, Proprioception, and Artificial Skin Stretch Cues
Introduction
Background
Spring Perception
Sensory Substitution for Upper-Limb Prosthesis Users
Experimental Setup
Hardware
Sensory Conditions
Relationship to Myoelectrically Controlled Upper-Limb Prosthesis Use
Methods
Task
Procedures
Subjects
Data Analysis
Results
Task Performance
Questionnaire
Discussion
References
Augmentation of Material Property by Modulating Vibration Resulting from Tapping
Introduction
Previous Work
Haptic Simulation of Tapping Object
Stylus-Type Haptic AR Devices
Proposal
Concept
Implementation
Experiment
Experimental Setup and Procedure
Results
Discussion
Conclusion
References
Feel the Static and Kinetic Friction
Introduction
Related Work
Simulating Friction
The Visual Component
The Haptic Component
Experimental Design and Results
Simulator Efficiency Assessment
Attitude Surveys and Student Attention Stimulation
Interdisciplinary Research and Development
Conclusions
The Cost Factor
Goals
References
Mechanical Impedance as Coupling Parameterof Force and Deflection Perception:Experimental Evaluation
Motivation
Measurements
Mechanical Impedance
Perception of Forces
Reference Deflection Perception Thresholds
Results
Conclusion
References
Acquisition of Elastically Deformable Object Model Based on Measurement
Introduction
Related Research
Model-Based Deformation
Measurement-Based Modeling
Recording and Reproducing Vibration
Recording / Pre-computing Deformation
Model-Based Approach vs. Measurement-Based Approach
Method of Measurement
Measurement System
Method of Acting Force
Measurement of Displacement
Deconvolution
Measurement and Modeling
Measurement
Interaction and Evaluation
Interaction Algorithm
Deforming Operation
Subjective Evaluation
Conclusion
References
Tradeoffs in the Application of Time-Reversed Acoustics to Tactile Stimulation
Introduction
Time Reversal
Principle
Basic Theory
Physical and Engineering Tradeoffs
Contrast Ratio
Cavity Reverberation
Spatial Resolution
Medium Deformation
Power Transmission to a Finger
Preliminary Validation
Conclusion
References
Error-Resilient Perceptual Haptic Data Communication Based on Probabilistic Receiver State Estimation
Introduction
Perceptual Haptic Data Compression
Error-resilient Perceptual Haptic Compression
Probabilistic Receiver State Estimation
Error-resilient Transmission Scheme
Extension to First-Order PD Compression
Experimental Evaluation
Conclusion
References
What Feels Parallel Strongly Depends on Hand Orientation
Introduction
Methods
Participants
Set-Up
Stimuli
Procedure
Data Analysis
Results
Discussion and Conclusions
References
A Masking Study of Key-Click Feedback Signals on a Virtual Keyboard
Introduction
Methods
Participants
Apparatus and Stimuli
Procedure
Data Analysis
Results
Discussion and Conclusions
References
Saliency-Driven Tactile Effect Authoring for Real-Time Visuotactile Feedback
Introduction and Background
Overview of Framework
Tactile Movie Generation Based on Visual Saliency
Tactile Rendering
Evaluation
Discussion
Conclusion
References
Stable and Transparent BimanualSix-Degree-of-Freedom Haptic Rendering Using Trust Region Optimization
Introduction
Related Work
Methods
Single Static-Virtual Coupling
Penalty-Based Collision Response for Environment
Extension to Bimanual Interaction
Adaptive Optimization
Algorithm Description
Experiments and Results
Conclusion and Future Work
References
The Effect of the Stiffness Gradient on the Just Noticeable Difference between Surface Regions
Introduction
Related Work
Stiffness Change during Contact
Time-Dependent and Position-Dependent Change
Transition Region
Evaluation
Method
Gradient Magnitude Evaluation
Transition Width Evaluation
Results
Discussion
References
Tactile Apparent Motion between Both Hands Based on Frequency Modulation
Introduction
Tactile Apparent Motion between Both Hands
Participants
Apparatus
Procedure
Result and Discussion
Conclusion and Further Work
References
Comparing Direct and Remote Tactile Feedback on Interactive Surfaces
Introduction
Tactile Feedback on Interactive Surfaces
Remote Tactile Feedback
Evaluations
Effects of Direct vs. Remote Tactile Feedback
Effects of RTF on Performance during Standard Touch Interaction
Effects of RTF during Multi Touch Interaction under Cognitive Load
Limitations and Discussion
Conclusion and Future Work
References
Sensorimotor Feedback for Interactive Realism: Evaluation of a Haptic Driving Paradigm for a Forklift Simulator
Introduction
Related Work
System Description
Forklift Physical Behaviours
Haptic Driving Paradigm
Evaluation
Method
Performance Analysis
Subjects Behaviour Analysis
Discussion
Conclusion
References
Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals
Introduction
Spectral Subtraction
PR2 Implementation Details
Performance Experiments
Conclusion
References
Haptic Invitation of Textures: An Estimation of Human Touch Motions
Introduction
Experiments
Experiment 1: Sensory Properties of Textures
Experiment 2: Observation of Touch Motions to Textures
Construction of Bayesian Network Model
Feature Extraction
Structure Learning
Interpretation of Structure
Conclusion
References
Haptically Induced Illusory Self-motion and the Influence of Context of Motion
Introduction
Related Work
Experiment Design
Environment Simulation
Measures of Illusory Self-motion
Participants and Procedure
Results
Discussion
Conclusion
References
Rendering Stiffness with a Prototype Haptic Glove Actuated by an Integrated Piezoelectric Motor
Introduction
Related Work
Device Design
Piezoelectric Motor
The Haptic Glove Prototype
Force Sensor
Magnetic Position Encoder
Control
Calibration
Stiffness Measurements
Test Set
Static Measurements of Stiffness Response
Dynamic Measurements of Stiffness Response
Results and Discussion
Conclusions and Future Work
References
Two Finger Grasping Simulation with Cutaneous and Kinesthetic Force Feedback
Introduction
Device Description
Device Model
Experiment
Conclusion and Future Works
References
Comparison of Extensive vs. Confirmation Haptic Interfaces with Two Levels of Disruptive Tasks
Introduction
Related Work
Experiment
Participants
Experiment Setup
Procedure
Data Analysis
Results
Discussion and Future Work
Conclusions
References
A Peer-to-Peer Trilateral Passivity Control for Delayed Collaborative Teleoperation
Introduction
System Description
Signal Flow Diagram
Network Modelling
Authority Allocation
Force Distribution
Passive Trilateral Control
Energy Analysis of Subsystems
Placement of Passivity Observers and Controllers
Passivity Proof
Experiments
Conclusions and Future Research
References
A Closed-Loop Neurorobotic System for Investigating Braille-Reading Finger Kinematics
Introduction
Material and Methods
The Artificial Touch Sensor
Primary Afferent Coding: Analogue-to-Spike Transduction
Second-Order Processing in the Cuneate Network
Assessing Neurotransmission Reliability: Metrical Information Analysis
Online Classification of Braille Characters: Naive Bayesian Classifier
From Classification to Reading Velocity Control: Kurtosis-Based Assessment of the Likelihood Distribution
Results
Characterisation of Mechanoreceptor Responses
Information Content of First and Second Order Tactile Afferent Responses
Classification of Braille Characters in a Reading Task
Online Reading Velocity Modulation
Discussion
References
Backwards Maneuvering PoweredWheelchairs with Haptic Guidance
Introduction
Powered Wheelchair Navigation Principles
Non-holonomicity of Powered Wheelchair
Mapping of Joystick Deflection to Wheelchair Motion
Navigation Assistance for Powered Wheelchairs
Haptic Guidance along Circular Paths
Environment Encoding as a Set of Collision-Free Paths
Adaptive Impedance Controller to Render Collision-Free Paths
Experimental Setup and Validation
Experimental Setup
Experiment Description
Summary of Results
Conclusions and Future Work
References
Direct Touch Haptic Display Using Immersive Illusion with Interactive Virtual Finger
Introduction
Direct Touch Haptic Display with Virtual Finger
Hardware and Software Implementation
Graphics and Visual Display
Direct Touch Sensation Using Vibration Feedback
Procedure and Evaluation
Result
Virtual Surface Stiffness Display Using Pseudo-haptics
Surface Stiffness Discrimination between Virtual Samples
Surface Stiffness Discrimination between Virtual and Real Samples
Conclusion
References
Development and Applications of High-Density Tactile Sensing Glove
Introduction
Related Works
Development of Tactile Sensing Glove
Experiments
Pre-process for Tactile Sensor Data.
Force Estimation Experiment
Haptic Discrimination Experiment
Experimental Setup.
Results.
Discussion.
Conclusions and Future Work
References
Presentation of Sudden Temperature Change Using Spatially Divided Warm and Cool Stimuli
Introduction
Proposed Thermal Display
Spatially Divided Thermal Stimuli
Spatial Resolution
Adapting Temperature
Presentation of Sudden Temperature Change
Experiments
Materials and Methods
Results
Discussion
Conclusion
References
Perceptually Robust Traffic Control in Distributed Haptic Virtual Environments
Introduction
Related Work
Haptic Data Reduction
Traffic Control for Server-to-Client Updates
Psychophysical Evaluation
Task Description
Subjects
Experimental Setup
Experiment
Results
Conclusions and Future Work
References
An Ungrounded Pulling Force Feedback Device Using Periodical Vibration-Impact
Introduction
Proposed Method
Development of Pulling Force Feedback Device
Spring-Mass System
Pulling Force Feedback Device
Collision Experiment
Sensory Evaluation
Sensitivity of Pulling Force Perception
Evaluation of Directional Perception
Conclusions
References
A Feasibility Study of Levels-of-Detail in Point-Based Haptic Rendering
Introduction
An Overview of the Point-Based Mechanics
A Definition for Levels-of-Detail
Experimental Studies
Conclusion
References
Haptic Rendering of Cultural Heritage Objects at Different Scales
Introduction
Literature Review
Proposed Method
Rendering
Rendering at Different Scales
Multi-scale Data Generation
Results
Conclusions
References
Haptic Communication Tools for Collaborative Deformation of Molecules
Introduction
Proposed Approach
Proposed Collaborative Configuration of Work
Proposed Haptic Communication Metaphors
Experiment
Results and Discussion
Improvement of Efficiency
Improvement of Coordination
Conclusion
References
Towards a Standard on Evaluation of Tactile/Haptic Interactions
Introduction
Framework for Evaluation
Validation
Verification
Usability
Evaluating Tactile/Haptic Interactions
Validation
Verification
Requirements for Devices
What Should Be Measured?
Measurement Resolution
Context of Measurement
Verification Example
Background
Equipment
Test Procedure
Evaluating Usability
General
Test
Data Collection
Effectiveness
Efficiency
Satisfaction
Example of Evaluating Usability
Background
Test
Analysis
Ramifications
Getting Involved
References
Dynamics Modeling of an Encountered Haptic Interface for Ball Catching and Impact Tasks Simulation
Introduction
System Description
System Dynamic Modeling
Dynamics Model Based Position Control
Comparison of the Proposed Method with a Standard PD Position Control: Experimental Results
Haptic Rendering of Impacts
General Framework
Energy Modeling
Trajectory Planning
Experimental Results
Conclusions
References
Novel Interactive Techniques for BimanualManipulation of 3D Objects with Two 3DoFHaptic Interfaces
Introduction
Related Work
Novel Techniques for Improving Bimanual Interaction with Dual Single-Point Haptic Interfaces
Double Bubble
Viewport Adaptation
Magnetic Pinch
Joint Control
Evaluation
Method
Experiment Results
Subjective Questionnaire
Discussion
Conclusion and Perspectives
References
Shaking a Box to Estimate the Property of Content
Introduction
Related Research
Emulation of Shaking
Getting Information by Shaking
Motion of Center of Gravity
Device and Control System
Implementation of the Device
Control System
Operation of the Control System
Evaluation
Method
Results
Discussion
Conclusion
References
Inside the Boundaries of the Physical World: Audio-Haptic Feedback as Support for the Navigation in Virtual Environments
Introduction
The Interactive Multimodal System
Method
Experiment Design
Task
Participants
Results
System Evaluation
Discussion
Conclusion
References
Tactile Sensibility through Tactile Display: Effect of the Array Density and Clinical Use
Introduction
The Test-Rig
Experiment
Method
Clinical Testing: Patients Affected by Carpal TunnelSyndrome
Conclusions and Future Works
References
Contact Force and Finger Angles Estimation for Touch Panel by Detecting Transmitted Light on Fingernail
Introduction
Principles
Physical Values for Measurement
Estimation of z-Directional Force
Estimation of Rotation Angles around the x and y-axis
Rotating Angle around z-axis
Experiments
Experimental Setting
Experiment 1 : Estimation of z-Directional Force
Experiment 2 : Estimation of Rotation Angle around the x-axis
Experiment 3: Interferences between the Normal Force and the Tilt Angle
Experiment 4 : Estimation of Rotation Angle around the z-axis
Applications
Conclusion
References
Electrostatic Modulated Friction as Tactile Feedback: Intensity Perception
Introduction
Related Work
The History of Electrovibration
Current Electrovibration Systems
Electrovibration Intensity
Experiment: Evaluating Perceived Intensity
Magnitude Estimation
ESSI Rating Scale
Test Hardware
Stimuli
Subjects
Methodology
Magnitude Estimation Results
Discussion
Conclusions
References
Stability of Model-Mediated Teleoperation: Discussion and Experiments
Introduction
Model and Task Signals
Continuous Closed-Loop Stability
Classic Stability: Gain Stabilization
Model-Mediated Stability: Phase Stabilization
Discrete Model Jumps and Stability
Triggering Model Jumps
Rendering Model Jumps
Task execution under Model Jumps
Experiments
Conclusions
References
Novel Thin Electromagnetic System for Creating Pushbutton Feedback in Automotive Applications
Context
Requirement Considerations
Actuation Principle
Electromagnetic System
Parallel Guidance
Sensors
Performance
Application
Summary
References
Erratum
Author Index

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