This paper presents the design and testing of a multi-channel vibrotactile display composed of cylindrical handle with four embedded vibrating elements driven by piezoelectric beams. The experimental goal of the paper is to analyze the performance of the device during a teleoperated force controlled task. As a test bed, a teleoperator system composed of two PHANToM™ haptic devices is used to trace a rectangular path while the operator attempts to maintain a constant force at the remote manipulator's tip. Four sensory modalities are compared. The first is visual feedback alone. Then, visual feedback is combined with vibration, force feedback, and force feedback plus vibration. Comparisons among these four modes are presented in terms of mean force error. Results show that force feedback combined with vibration provide the best feedback for the task. They also indicate that the vibrotactile device provides a clear benefit in the intended application, by reducing the mean force errors by 35 percent when compared to visual feedback alone.
This paper presents the design and testing of a multi-channel vibrotactile display. It is composed of a cylindrical handle with four embedded vibrating elements driven by piezoelectric beams. Vibrations are transmitted to the hands through arrays of pins. The device was tested in sensory substitution for conveying force information during a teleoperated peg insertion. Results show that the device is effective in reducing peak forces during the insertion task.
An objective function is proposed and an iterative learning control algorithm is derived based on this. The objective function is a quadratic form consisting of the output error and the input. By adjusting the weights in the objective function, the control objective of good command following at smaller input energy can be realized. The weight on the input energy in the objective function is shown to be directly related to the forgetting factor for robust iterative learning control. The convergence of the control algorithm has been proven and its characteristics are shown in the simulation examples.
If a virtual object in a virtual environment represented by a stereo vision system could be touched by a user with some tactile feeling on his/her fingertip, the sense of reality would be heightened. To create a visual impression as if the user were directly pointing to a desired point on a virtual object with his/her own finger, we need to align virtual space coordinates and physical space coordinates. Also, if there is no tactile feeling when the user touches a virtual object, the virtual object would seem to be a ghost. Therefore, a haptic interface device is required to give some tactile sensation to the user. We have constructed such a human‐computer interaction system in the form of a simple virtual reality game using a stereo vision system, a vibro‐tactile device module, and two position/orientation sensors.
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