A Review of Surface Haptics:Enabling Tactile Effects on Touch Surfaces
Koc University（科奇大学）；University of Lille（里尔大学）；École de Technologie Supérieure（高等技术学院）；Pohang University of Science and Technology (POSTECH)（浦项科技大学（POSTECH））
Cagatay Basdogan, Frederic Giraud, Vincent Levesque, Seungmoon Choi
We review the current technology underlying surface haptics that converts passive touch surfaces to active ones (machine haptics), our perception of tactile stimuli displayed through active touch surfaces (human haptics), their potential applications (human-machine interaction), and finally the challenges ahead of us in making them available through commercial systems. This review primarily covers the tactile interactions of human fingers or hands with surface-haptics displays by focusing on the three most popular actuation methods: vibrotactile, electrostatic, and ultrasonic.
Stanford University（斯坦福大学）；University of Southern California（南加州大学）
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal indentation and sequential lateral skin-slip using discrete actuators. Our goals are to understand which form of stimulation more effectively creates a continuous stroking sensation, and how many discrete contact points are needed. We performed a study with 20 participants in which they rated sensations from the haptic devices on continuity and pleasantness. We …
Skolkovo Institute of Science and Technology (Skoltech)（斯科尔科沃科学技术研究院（Skoltech））
TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch display is capable of generating 3D force vector at the contact point and presenting multimodal tactile sensation of weight, slippage, encounter, softness, and texture. The VR system consists of HTC Vive Pro base stations and head-mounted display (HMD), and Leap Motion controller for tracking the user's hands motion in VR. The MatrixTouch, BallFeel, and Rob…
Most research on 3D user interfaces aims at providing only a single sensory modality. One challenge is to integrate several sensory modalities into a seamless system while preserving each modality's immersion and performance factors. This paper concerns manipulation tasks and proposes a visuo-haptic system integrating immersive visualization, tactile force and tactile feedback with co-location. An industrial application is presented.
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual Reality interactions, relying on haptic devices. We propose two dimensions to describe and compare the current haptic solutions: their degree of physicality, as well as their degree of actuation. We depict a compromise between the user and the designer, highlighting how the range of required or proposed stimulation in VR is opposed to the haptic interfaces flexibi…
Skolkovo Institute of Science and Technology（斯科尔科沃科技学院）
We propose a novel concept of augmented reality (AR) human-drone interaction driven by RL-based swarm behavior to achieve intuitive and immersive control of a swarm formation of unmanned aerial vehicles. The DroneARchery system developed by us allows the user to quickly deploy a swarm of drones, generating flight paths simulating archery. The haptic interface LinkGlide delivers a tactile stimulus of the bowstring tension to the forearm to increase the precision of aiming. The swarm of released drones dynamically avoids collisions between each other, the drone following the user, and external o…
Haptic technology, or haptics, is a tactile feedback technology which takes advantage of a user's sense of touch by applying forces, vibrations, and/or motions upon the user. This mechanical stimulation may be used to assist in the creation of virtual objects (objects existing only in a computer simulation), for control of such virtual objects, and for the enhancement of the remote control of machines and devices. It has been described as for the sense of touch what computer graphics does for vision. Although haptic devices are capable of measuring bulk or reactive forces that are applied by t…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative influence on workers, especially inexperienced users. In this paper, we present CobotTouch, a novel intuitive robot control interface with fingertip haptic feedback. The proposed interface consists of a projected Graphical User Interface on the robotic arm to control the position of the robot end-effector based on gesture recognition, and a wearable haptic interfa…
Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In those applications, users manually explore the touch surface to interact with the tactile data using some intuitive strategies. The user's exploration strategy, tactile data's complexity, and tactile rendering method all affect the user's haptic perception, which plays a critical role in design and prototyping of those applications. In this study, we conducted…
The process of learning involves interaction with the learning environment through our five senses (sight, hearing, touch, smell, and taste). Until recently, distance education focused only on the first two of those senses, sight and sound. Internet-based learning environments are predominantly visual with auditory components. With the advent of haptic technology we can now simulate/generate forces and, as a result, the sense of touch. The gaming industry has promoted the "touch" on the "wire", allowing complex multi-modal interactions online. In this article we provide a brief overview of the…
It is human to want to touch artworks, to feel their surface curvature and texture, their shapes and structures, and to feel the hand of the artist. Museum guards need to be constantly vigilant to protect art objects from adoring and exploring touches by visitors. This paper introduces a novel technique for capturing where and how art objects are touched. In this method, the users' touch either adds, or subtracts, microscopic fluorescent particles from a three-dimensional art object. Viewing the object under ultraviolet light reveals their touch traces and gestures. We present human touch beha…
Touch is the first sense among human senses. Not only that, but it is also one of the most important senses that are indispensable. However, compared to sight and hearing, it is often neglected. In particular, since humans use the tactile sense of the skin to recognize and manipulate objects, without tactile sensation, it is very difficult to recognize or skillfully manipulate objects. In addition, the importance and interest of haptic technology related to touch are increasing with the development of technologies such as VR and AR in recent years. So far, the focus is only on haptic technolog…
Preoperative gestures include tactile sampling of the mechanical properties of biological tissue for both histological and pathological considerations. Tactile properties used in conjunction with visual cues can provide useful feedback to the surgeon. Development of novel cost effective haptic-based simulators and their introduction in the minimally invasive surgery learning cycle can absorb the learning curve for your residents. Receiving pre-training in a core set of surgical skills can reduce skill acquisition time and risks. We present the integration of a real-time surface stiffness adjus…
Playing back vibrotactile signals through actuators is commonly used to simulate tactile feelings of virtual textured surfaces. However, there is often a small mismatch between the simulated tactile feelings and intended tactile feelings by tactile designers. Thus, a method of modulating the vibrotactile perception is required. We focus on fine roughness perception and we propose a method using a pseudo-haptic effect to modulate fine roughness perception of vibrotactile texture. Specifically, we visually modify the pointer's position on the screen slightly, which indicates the touch position o…
The exciting new technology known as mid-air haptics has been adopted by several industries including Automotive and Entertainment, however it has yet to emerge in simulated pilot training or in real-life flight decks. Full-flight simulators are expensive to manufacture, maintain and operate. Not only that, each simulator is limited to one aircraft type, which is inefficient for the majority of airlines that have several in service. With the growing trend in touchscreen instrumentation, cockpit displays require the pilot's attention to be drawn away from their view out of the window. But by us…
We present RealPen, an augmented stylus for capacitive tablet screens that recreates the physical sensation of writing on paper with a pencil, ball-point pen or marker pen. The aim is to create a more engaging experience when writing on touch surfaces, such as screens of tablet computers. This is achieved by re-generating the friction-induced oscillation and sound of a real writing tool in contact with paper. To generate realistic tactile feedback, our algorithm analyses the frequency spectrum of the friction oscillation generated when writing with traditional tools, extracts principal frequen…
We present HapTable; a multimodal interactive tabletop that allows users to interact with digital images and objects through natural touch gestures, and receive visual and haptic feedback accordingly. In our system, hand pose is registered by an infrared camera and hand gestures are classified using a Support Vector Machine (SVM) classifier. To display a rich set of haptic effects for both static and dynamic gestures, we integrated electromechanical and electrostatic actuation techniques effectively on tabletop surface of HapTable, which is a surface capacitive touch screen. We attached four p…
