String-based haptic interface device for multi-fingers

2002 ◽  
Author(s):  
S. Walairacht ◽  
Y. Koike ◽  
M. Sato
Keyword(s):  
Haptic Interface ◽  
Interface Device

scholarly journals Haptic Interface Device Using Cable Tension Based on Ultrasonic Phased Array

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 162880-162891
Author(s):  
Liqiang Fan ◽  
Aiguo Song ◽  
Haochen Zhang
Keyword(s):  
Phased Array ◽  
Haptic Interface ◽  
Cable Tension ◽  
Ultrasonic Phased Array ◽  
Interface Device

A Contact Point Intermediate Representation for 6-DOF Haptic Interaction With Dynamic Simulations

2000 ◽  
Author(s):  
Peter J. Berkelman ◽  
Ralph L. Hollis
Keyword(s):  
Physical Simulation ◽  
Contact Point ◽  
Haptic Interface ◽  
Intermediate Representation ◽  
Dynamic Simulations ◽  
Orientation Data ◽  
Time Dynamic ◽  
Virtual Coupling ◽  
Update Rate ◽  
Interface Device

Abstract A new method for integrating a haptic interface device with 3-D dynamic simulations has been implemented which minimizes effects caused by the limited update rate of the simulation and unpredictable communication delays. The new contact point intermediate representation method is compared with a previously implemented method of virtual coupling. Both methods were applied to a recently developed 6 DOF haptic interface device based on Lorentz magnetic levitation connected with a real-time dynamic physical simulation environment. With virtual coupling, the position and orientation data from the interface device and the simulated tool each act as impedance control setpoints for the other, with error and velocity feedback acting as virtual coupling between the two systems. The simple feedback coupling enables the overall stiffness and stability of the system to be tuned easily. In the contact point intermediate representation integration method, the haptic device controller uses additional contact point position and direction information from the simulation to react to user motions by changing the device impedance appropriately at the faster update rate of the controller rather than at the slower simulation rate. The contact point intermediate representation provides a crisper, more responsive feeling than virtual coupling during interaction but is not as easily stabilized. Experimental data from the virtual coupling and a modified contact point intermediate representation implementation are presented.

scholarly journals Investigating the Influence of Stiffness on Decision Making for Haptic Interface Evaluation Development

2020 ◽  
Vol 9 (1) ◽  
Author(s):  
Tomoe Ozeki ◽  
Tetsuya Mouri
Keyword(s):  
Social Behavior ◽  
Social Perception ◽  
Human Life ◽  
Reaction Force ◽  
Sensory Information ◽  
Ease Of Use ◽  
Haptic Interface ◽  
Human Finger ◽  
And Behavior ◽  
Interface Device

<p align="justify">Sensation input very important information for human life. In order to explore the mechanism of perception caused by compliance (hardness or softness), it is necessary to collect and examine the phenomena that occur along the way, including physical reactions. The goal of our study is to investigate whether social perception and behavior are influenced by the sensation of a human finger using the haptic interface device. In this paper as the pretest of a haptic interface device, psychological experiments whether touching softball or hardball is influence on social perception and behavior of people are duplicated. STUDY1 using only the index finger showed that information of a reaction force acted on a human finger has no influence on others impression and has influence on social behavior.  In STUDY2 with grasping the ball while collecting the surface electromyogram signals of the skin using sEMG sensors, the grasping ball's stiffness had influence on others impression and social behavior. This knowledge could be expected as a fundamental technology that improves the ease of use of a haptic interface and enables remote exchange of sensory information. </p>

scholarly journals Elastostatic Modeling and Shape Optimization of a 6-DOF Haptic Interface Device

2012 ◽  
Author(s):  
Stéphane Caro ◽  
Damien Chablat ◽  
Chao Chen
Keyword(s):  
Shape Optimization ◽  
Parallel Manipulator ◽  
Haptic Interface ◽  
Element Analysis ◽  
Stiffness Model ◽  
The Finite Element Analysis ◽  
Six Dof ◽  
The Masses ◽  
Six Degree Of Freedom ◽  
Interface Device

This paper deals with the shape optimization of a six degree-of-freedom haptic interface device. This six-dof epicyclic-parallel manipulator has all actuators located on the ground. A regular dexterous workspace is introduced to represent the mobility of user’s hand. Throughout this workspace, the deviation of the mobile platform is bounded to provide a better feeling to the user and the masses in motion are minimized to increase the transparency of the haptic device. The stiffness model is written using a virtual joint method and compared with the results obtained with the finite element analysis to be validated. Finally, the shape of the links are optimized in order to minimize the masses in motion while guaranteeing a given stiffness throughout the regular workspace of the mechanism.

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