A compliant tactile display for teletaction

Moy, G.; Wagner, Christopher R.; Fearing, Ronald S.

doi:10.1109/robot.2000.845247

Cited by 139 publications

(84 citation statements)

References 11 publications

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“…Attempts have been made to leverage the benefits of smart actuators such as shape memory alloy wires or springs (Wellman et al, 1998), (Velazquez et al, 2005), miniature electrostatic actuators (Jungmann and Schlaak, 2002), electroactive gels (Konyo et al, 2000), specifically developed technologies such as pneumatic bladders (Moy et al, 2000) and miniature electromagnetic solenoids (BenaliKhoudja et al, 2004), even hobby servo-motors (Wagner et al, 2004), or remotized miniature dc motors (Sarakoglou et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Wang

Hayward

2009

The International Journal of Robotics Research

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This paper presents a tactile transducer device that is optimized from biomechanical data and has a compact, yet modular design. The tactile transducer comprises a 6 × 10 piezo bimorph actuator array with a spatial resolution of 1.8 × 1.2 millimeters and a wide temporal bandwidth. The actuator mounting method was improved from a conventional cantilever method to a dual-pinned method, giving the actuator the capability of maximally deforming glabrous skin for laterotactile stimulation. The results were validated using a psychophysical method. The tactile display device is modular, appeals to ordinary fabrication methods, and can be assembled and dismantled in a short time for debugging and maintenance. It weighs 60 g, it is self-contained in a 150 cm 3 volume and may be interfaced to most computers, provided that two analog outputs and six digital io lines are available. Psychophysical experiments were carried out to assess its effectiveness in rendering virtual tactile features.

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Section: Introductionmentioning

confidence: 99%

Biomechanically Optimized Distributed Tactile Transducer Based on Lateral Skin Deformation

Wang

Hayward

2009

The International Journal of Robotics Research

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“…Others solved an inverse problem by matching the predicted shape with measurements, but the results were unreliable because of the assumptions required. Knowledge of the detailed behavior of the skin could also be of interest to tactile display designers (Moy et al, 2000b;Drewing et al, 2005;Levesque et al, 2005), and have numerous clinical applications (Payne, 1991).…”

Section: Introductionmentioning

confidence: 99%

In vivo biomechanics of the fingerpad skin under local tangential traction

Wang

Hayward

2007

Journal of Biomechanics

139

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Small patches of fingerpad glabrous skin in human subjects were tested in vivo for their biomechanical properties under tangential loading and for large deformations. These conditions included stretching and shearing the skin at a length scale of 0.3 mm using an apparatus comprising a pair of piezoelectric benders arranged to increase the stiffness/free deflection tradeoff when compared to ordinary cantilevered benders. It was then possible to test the skin with up to 80% of tangential strain. With feedback control, it was also possible to create isotonic and isometric testing conditions. The results showed much variability across subjects and it was seen that the glabrous skin exhibited nonlinear stiffening in tangential traction. The skin was consistently more elastic across the ridges than along the ridges regardless of the location of the sample on the fingerpad. The skin behaved visco-elastically but relaxed about twice as fast than it crept. Finally, it was found that under large deformation, there was consistently an 80% of hysteretic loss for a wide range of loading conditions.

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“…In recent years, different research groups have developed laboratory prototypes of haptic display devices based on different principles. Haptic display devices previously developed explore servomotors (Wagner et al, 2002), electromagnetic coils (Benali-Khoudja et al, 2004), piezoelectric ceramics (Pasquero, Hayward, 2003) (Chanter, Summers, 2001) (Maucher et al, 2001), pneumatics (Moy et al, 2000), shape memory alloys (SMA) (Kontarinis et al, 1995) (Taylor, Creed, 1995) (Taylor et al,1997) (Taylor, Moser, 1998), Electro-magnetic (Fukuda et al,1997) (Shinohara et al, 1998), polymer gels (Voyles et al, 1996) and fluids as actuation technologies (Taylor et al, 1996). A softness haptic display is important to distinguish between the different objects.…”

Section: Review Of Haptic Display Device Developmentmentioning

confidence: 99%