We propose a haptic system for virtual manipulation to provide feedback on the user's forearm instead of the fingertips. In addition to visual rendering of the manipulation with virtual fingertips, we employ a device to deliver normal or shear skin-stretch at multiple points near the wrist. To understand how design parameters influence the experience, we investigated the effect of the number and location of sensory feedback on stiffness perception. Participants compared stiffness values of virtual objects, while the haptic bracelet provided interaction feedback on the dorsal, ventral, or both sides of the wrist. Stiffness discrimination judgments and duration, as well as qualitative results collected verbally, indicate no significant difference in stiffness perception with stimulation at different and multiple locations.
Stanford University（斯坦福大学）；Kadir Has University（卡迪尔哈斯大学）
Relocation of haptic feedback from the fingertips to the wrist has been considered as a way to enable haptic interaction with mixed reality virtual environments while leaving the fingers free for other tasks. We present a pair of wrist-worn tactile haptic devices and a virtual environment to study how various mappings between fingers and tactors affect task performance. The haptic feedback rendered to the wrist reflects the interaction forces occurring between a virtual object and virtual avatars controlled by the index finger and thumb. We performed a user study comparing four different finge…
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloy Actuators for Spatial and Temporal Haptic Feedback
Korea National University of Transportation（韩国交通大学）；University of California（加州大学）；Ajou University（全州大学）；Pohang University of Science and Technology（釜山科学技术大学）
Japan Advanced Institute of Science and Technology（日本北陆先端科学技术大学院大学）
Recently, haptic gloves have been extensively explored for various practical applications, such as manipulation learning. Previous glove devices have different force-driven systems, such as shape memory alloys, servo motors and pneumatic actuators; however, these proposed devices may have difficulty in fast finger movement, easy reproduction, and safety issues. In this study, we propose MagGlove, a novel haptic glove with a movable magnet mechanism that has a linear motor, to solve these issues. The proposed MagGlove device is a compact system on the back of the wearer's hand with high respons…
Mindless eating, or the lack of awareness of the food we are consuming, has been linked to health problems attributed to unhealthy eating behaviour, including obesity. Traditional approaches used to moderate eating behaviour often rely on inaccurate self-logging, manual observations or bulky equipment. Overall, there is a need for an intelligent and lightweight system which can automatically monitor eating behaviour and provide feedback. In this paper, we investigate: i) the development of an automated system for detecting eating behaviour using wearable Electromyography (EMG) sensors, and ii)…
Stanford University（斯坦福大学）；Kadir Has University（卡迪尔哈斯大学）；University of California at Berkeley（加州大学伯克利分校）；University of Birmingham（伯明翰大学）；Facebook Reality Labs（Facebook现实实验室）
Our aim is to provide effective interaction with virtual objects, despite the lack of co-location of virtual and real-world contacts, while taking advantage of relatively large skin area and ease of mounting on the forearm. We performed two human participant studies to determine the effects of haptic feedback in the normal and shear directions during virtual manipulation using haptic devices worn near the wrist. In the first study, participants performed significantly better while discriminating stiffness values of virtual objects when the feedback consisted of normal displacements compared to…
Technical University of Munich（慕尼黑工业大学）；Imperial College London（帝国理工学院）；University of Bayreuth（拜罗伊特大学）
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of methods involving human sensing or intention decoding, as well as human-robot turn-taking and sequential task planning. However, the physical interaction establishes a rich channel of communication through forces, torques and haptics in general, which is often overlooked in industrial implementations of human-robot interaction. In this work, we investigate the …
Creating haptic interfaces capable of rendering the rich sensation needed for dexterous manipulation is crucial for the advancement of human-in-the-loop telerobotic systems (HiLTS). One limiting factor has been the absence of detailed knowledge of the effect of operator limb dynamics and haptic exploration dynamics on haptic perception. We propose to begin investigations of these effects with single-joint haptic exploration and feedback of physical and virtual environments. Here, we present our experimental apparatus, a 1-DoF rotational kinesthetic haptic device and electromyography (EMG) syst…
Towards Tangible Immersion for Cobot Programming-by-Demonstration: Visual, Tactile and Haptic Interfaces for Mixed-Reality Cobot Automation in Semiconductor Manufacturing
Intel Labs, Intelligent System Research, Human-Robot Collaboration（英特尔实验室、智能系统研究、人机协作）
A wearable haptic device for edge and surface simulation
Institute of Mechanical Intelligence, School of Advanced Studies Sant'Anna (SSSA)（圣安娜高等研究学院机械智能研究所）；CAS Key Laboratory of Mechanical Behavior and Design of Materials, Institute of Humanoid Robots, School of Engineering Sciences, University of Science and Technology of China（中国科学院材料力学行为和设计重点实验室，中国科学技术大学工程科学学院仿生机器人研究所）
In this paper, an experimental testbed and associated psychophysical paradigm are presented for understanding how people discriminate torsional stiffness using wrist rotation about their forearm. Featured in the testbed are two 1-DoF rotary kinesthetic haptic devices. An adaptive staircase was used to evaluate JNDs for a stiffness discrimination task where participants explored virtual torsion springs by rotating their forearms. The JNDs were evaluated across seven different conditions, under four different exploration modes: bimanual, unimanual, bimanual feedback for unimanual displacement, a…
This research investigates whether the interaction methods of XR headsets can be improved by using haptic feedback. As a first and most common technique, indirect interactions are considered. Indirect interactions correspond to manipulations of virtual objects from a virtual distance using pre-defined hand gestures. As a second interaction technique, direct interaction (namely DIM) has been implemented where the user manipulates objects by virtually touching these with their hands. A third interaction method extends the previous one with haptic feedback (namely HEDIM). These 3 methods are comp…
In mixed reality, real objects can be used to interact with virtual objects. However, unlike in the real world, real objects do not encounter any opposite reaction force when pushing against virtual objects. The lack of reaction force during manipulation prevents users from perceiving the mass of virtual objects. Although this could be addressed by equipping real objects with force-feedback devices, such a solution remains complex and impractical.In this work, we present a technique to produce an illusion of mass without any active force-feedback mechanism. This is achieved by simulating the e…
German Aerospace Center (DLR)（德国航空航天中心（DLR））；Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院（KIT））；University of Twente (UT)（特文特大学（UT））；Technical University of Munich (TUM)（慕尼黑工业大学（TUM））
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot's workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors namely a LiDAR, cameras and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active…
