C'mon part, do the local motion!

Reznik, Dan; Canny, John

doi:10.1109/robot.2001.932955

Cited by 75 publications

(25 citation statements)

References 5 publications

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“…In [17], Lynch and Umbanhowar derived optimal plate motions that maximize part speed on one-and two-DoF translating rigid plates. The three-DoF UPM is capable of generating certain position-dependent force fields [12] including localized ones [18].…”

Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose¹,

Umbanhowar²,

Lynch³

2008

Robotics: Science and Systems IV

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Abstract-We show that small-amplitude periodic motion of a rigid plate causes point parts on the plate to move as if they are in a position-dependent velocity field. Further, we prove that every periodic plate motion maps to a unique velocity field. By allowing a plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. We examine in detail sinusoidal plate motions that generate fields with either isolated sinks or squeeze lines. These fields can be exploited to perform tasks such as sensorless part orientation.

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Section: Introductionmentioning

confidence: 99%

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose¹,

Umbanhowar²,

Lynch³

2008

Robotics: Science and Systems IV

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“…They provide haptic feedback and are usually augmented with a visual projection. Several actuation techniques, e.g., using electromagnetic forces [8,9,15], vibration [12], or small motors [6], maintain the physical-visual consistency of the controls. We previously proposed to use electromagnetic fields that vary the resistance of controls, such as buttons and sliders [15].…”

Section: Related Workmentioning

confidence: 99%

Rendering physical effects in tabletop controls

Weiss

Remy

Borchers

2011

Proceedings of the SIGCHI Conference on Human Factors in Computing Systems

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We introduce dynamic physical properties as an additional degree of freedom for passive tabletop controls. Using electromagnetic actuation, we manipulate attributes of tangibles on the fly, such as perceived weight, spring resistance, friction, and latching. We describe our actuation concepts, prototypes, and measurements showing that magnetic fields can change physical effects in a linear way. Controlled experiments reveal that participants can tactually distinguish four rendered resistance levels of a button prototype and easily detect dynamic detents in a continuous slider. Finally, we describe how adjustable physical properties in tangibles can enhance tabletop interaction.

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“…In our system, however, this adjustment is not necessary because only horizontal vibration is used. A parts feeding that employs non-sinusoidal vibrations (Reznik, 2001) has been developed. The part moves to its target position and orientation or is tracked during its trajectory by using the difference between the static and sliding friction.…”

Section: Related Workmentioning

confidence: 99%