A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear

Pediredla, Vijay Kumar; Chandrasekaran, K.; Annamraju, Srikar; Thondiyath, Asokan

doi:10.1007/978-3-030-30036-4_37

Cited by 3 publications

(4 citation statements)

References 16 publications

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“…When the user attempts to swap between various textures attached to the spherical segment, the segment moves accordingly (the spherical segment provides relative movements to enhance the workspace of each texture) to render texture and shape information. Similarly, a reference shear trajectory is assumed based on the fractional derivative model [35] given by = , 0 < < 2 (13) where , , / and are the shear stress, dynamic viscosity, velocity gradient, and order of fractional derivative, respectively.…”

Section: A Rendering Shape and Environmental Shear Using Position Control Methodsmentioning

confidence: 99%

“…With this motivation, we proposed a new 3-DOF haptic device in [13] and emphasized the importance of rendering a synergetic combination of kinesthetic and tactile feedback. The device provides haptic modalities like stiffness, texture, environmental shear, and shape to the finger accurately with a wide range of forces.…”

Section: Introductionmentioning

confidence: 99%

“…Several studies [9,13,16,19] have shown that adding tactile forces to the kinesthetic forces enhances the richness in sensations. In [9], two methods, namely serial and parallel kinematic coupling mechanisms, are proposed to render combined forces; however, the texture display is provided using an indirect way of vibro-actuation that limits accurate tactile perception.…”

Section: Introductionmentioning

confidence: 99%

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Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

et al. 2021

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Haptic devices providing various sensations have multiple applications spanning over many fields such as surgical training, robot-assisted minimal invasive surgery (MIS), military, space, and underwater exploration. Most of the existing haptic interfaces lack the capability to effectively replicate the remote environment due to the intricacies involved in providing all necessary sensations simultaneously. In this paper, a novel haptic device with three degrees of freedom (DOF) is developed to render high-fidelity touch sensations like stiffness, texture, shape, and shear concurrently. The proposed haptic device consists of a spherical segment affixed with an array of texture surfaces based on the virtual/remote environment. The device can move in 3-DOF, namely, the pitch, roll, and vertical motion. The haptic interface provides kinesthetic cues like stiffness, shape, and environmental shear and tactile cues like texture by combining the movements of the three actuators along with the segmented housing. A systematic kinematic analysis of the proposed design is presented. The performance is enhanced by implementing the hybrid control methodology that switches between impedance and position control, thus making the interaction realistic and immersive. Experiments have been performed on the developed haptic device, and the results demonstrate its accuracy in reproducing various modalities of haptic feedback of the virtual/remote environment.

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Section: A Rendering Shape and Environmental Shear Using Position Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

et al. 2021

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“…The more important thing is that touch perception can be formed to simulate the real tactile sensation or transmit some information with the help of controllable tactile display devices (Piškur et al , 2020). The options for tactile stimulation include electrical, mechanical, pneumatic, ultrasonic, water-jet stimulation, etc (Pediredla et al , 2020; Georgiou et al , 2018; Talhan et al , 2018; Shuai et al , 2006). During the above stimulation patterns, the latter four types require a large size of tactile display devices, which limit their daily use (Hwang et al , 2017; Wang et al , 2017).…”

Section: Introductionmentioning

confidence: 99%

Qualifying tactile sensations evoked by non-steady cutaneous electrical stimulation with electroencephalography features

Chen

Shuai

2020

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Purpose This paper aims to investigate whether electroencephalography (EEG) technology is effective in qualifying the tactile sensation evoked by non-steady cutaneous electrical stimulation. EEG is a novel method for electrotactile analysis and has demonstrated the discrimination ability for electrotactile sensation under steady contact conditions in recent years. However, in non-steady contact conditions, it is necessary to test its effectiveness. This study aims to explore an objective analysis method in comparison to psychophysical approach and to provide a methodology for non-steady electrotactile research. Design/methodology/approach With EEG experimentation on 13 volunteers, the authors collected evoked potentials by the predesigned “1” and “0” stimulation events. In addition, with a series of data preprocessing including artifact elimination, band-pass filtering, baseline normalization, data superposition and fast Fourier transform transformation, the authors got the power spectrum of alpha, beta and gamma rhythms. Furthermore, statistics analysis and ANOVA test were adopted for exploring the discrepancy of the spectrum characterizations for different non-steady electrostimulation events. Findings The EEG power spectrum of the central cortical brain is valuable in discriminating the two types of stimulation events. The power of alpha rhythm especially in the central cortical brain evoked by event “1,” whose current level is equal to the threshold, was significantly lower than that evoked by event “0,” whose level is less than the threshold (p < 0.05). Then, the power of the beta rhythm presented counter-change (p < 0.05). This study suggests that EEG may have the potential to qualify non-steady electrotactile sensation for engineering applications. Research limitations/implications Limiting factors of non-steady electrotactile stimulation were considered in this study. Different tapping frequency and contact time should be investigated in future studies. Originality/value This paper fulfills a challenge in qualifying the tactile sensations evoked by non-steady electrical stimulation with EEG characteristics.

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Composite magnetorheological elastomers for tactile displays: Enhanced MR-effect through bi-layer composition

Alkhalaf

Hooshiar

Dargahi

2020

Composites Part B: Engineering

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A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear

Cited by 3 publications

References 16 publications

Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

Qualifying tactile sensations evoked by non-steady cutaneous electrical stimulation with electroencephalography features

Composite magnetorheological elastomers for tactile displays: Enhanced MR-effect through bi-layer composition

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