Development of Er Brake and Its Application to Passive Force Display

Furusho, Junji; SAKAGUCHI, MASAMICHI; Takesue, Naoyuki; Koyanagi, K.

doi:10.1142/9789812777546_0009

Cited by 16 publications

(22 citation statements)

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“…Resultantly, the wall surface is felt sticky, especially when there is deep intrusion. This phenomenon, called "sticky wall", is famous among passive haptic displays [31], [32], and can be solved by implementing a force sensor on the pad [16], [17].…”

Section: Evaluation Of Interaction Forcementioning

confidence: 99%

A Multi-User Surface Visuo-Haptic Display Using Electrostatic Friction Modulation and Capacitive-Type Position Sensing

Nakamura

Yamamoto

2016

IEEE Trans. Haptics

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This paper proposes a visuo-haptic feedback system that can provide haptic feedback to multiple users on an LCD monitor using electrostatic adhesion and built-in capacitive sensors. The prototype system consists of a 40-inch LCD monitor, an ITO electrode sheet arranged on the monitor, and multiple contact pads for electrostatic adhesion. By applying low-frequency haptic voltage and high-frequency sensing voltage to each pad, the system realizes passive haptic feedback, as well as position sensing using the same components. The passive haptic feedback force exceeds 1 N at 300 V rms. The performance of the sensing system is investigated in terms of interference, which shows the haptic voltage and existence of multiple pads can affect the sensing and can shift the output by a few millimeters. A pilot application, virtual hockey game, successfully demonstrates the sensing and haptic rendering capability of the proposed system. The effect of the interference on the demonstration is discussed.

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Section: Evaluation Of Interaction Forcementioning

confidence: 99%

A Multi-User Surface Visuo-Haptic Display Using Electrostatic Friction Modulation and Capacitive-Type Position Sensing

Nakamura

Yamamoto

2016

IEEE Trans. Haptics

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“…Neo-PLEMO uses ER fluid brakes [6] to produce force. The ER fluid brake consists of electrodes and ER (electrorheological) fluid encapsulated between them.…”

Section: B Er Fluid Brakementioning

confidence: 99%

“…There are also some handle positions or motion orientations with which it is difficult to provide a force sense. To solve these problems, Davis and Book reported that using larger number of brakes than the degree of freedom of system could improve the operability of unactuated devices [5], so we developed a force display system with larger number of ER (Electrorheological) fluid brakes [6] than the degree of freedom , and examined its force display performance to confirm that the introduction of the larger number of ER fluid brakes could lead to superior force display performance [7] [8]. However, the system with the larger number of brakes has the problem that it often become huge system.…”

Section: Introductionmentioning

confidence: 99%

Passive-type rehabilitation system for upper limbs which can display the exact resistance force in the orientation opposite to hand motion

Haraguchi

Furusho

2013

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)

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In these days, there are many patients with ataxia, which is paralysis caused by a brain stroke or asynergia. Early detection of functional deterioration and sufficient rehabilitative training are necessary for these patients. Rehabilitation support systems for upper limbs using force display devices are expected to quantify the effects of rehabilitative training and enhance the motivation of patients. The application of passive-type force display devices unactuated by motors is especially desirable for its high safety. There are, however, some orientations and positions for which it is difficult to display force in an unactuated force display systems using only passive elements. To solve this problem, a method for the improvement of controllability using larger number of brakes than the degree of freedom of system had been suggested. This method made it possible to display more various force power and orientations than could be done with previous systems. However, the system with the larger number of brakes often become huge system. In this study, we have developed a rehabilitation system for the upper limbs which use only the same number of brakes as the degree of freedom but can display the resistance force in the orientation opposite to operator's motion in any orientations and link posture: "Neo-PLEMO".

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“…One problem reported in [8] was the sticky wall problem, which can be commonly found in passive (resistive) haptic systems [11,12,13]. The sticky wall problem is that a user feels resistive force when retreating a finger from an object surface.…”

Section: Introductionmentioning

confidence: 99%

“…The sticky wall problem is that a user feels resistive force when retreating a finger from an object surface. It occurs due to the non-directional nature of resistive force, and can be solved by employing force sensor to detect applied force direction [11,12].…”

Section: Introductionmentioning

confidence: 99%

Multi-finger surface visuo-haptic rendering using electrostatic stimulation with force-direction sensing gloves

Nakamura

Yamamoto

2014

2014 IEEE Haptics Symposium (HAPTICS)

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This article describes a new prototype of multi-touch surface visuohaptic system using in-direct electrostatic stimulation. The prototype consists of a 40-inch large LCD monitor and a pair of operation gloves which are equipped with force generation pads, motion detection markers, and force-direction sensors. A user wearing the gloves can experience multi-finger passive haptic feedback from virtual objects on the monitor with four fingers independently. The article also discusses several rendering algorithms for static objects, textured surfaces, and dynamic objects. Utilizing force direction in haptic rendering, the system can solve the sticky wall problem which is commonly found in passive haptic systems. In rendering of dynamic objects, however, an interesting phenomenon named as "object stiction" was newly found, which would be unique to multifinger passive haptic displays.

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Development of Er Brake and Its Application to Passive Force Display

Cited by 16 publications

References 0 publications

A Multi-User Surface Visuo-Haptic Display Using Electrostatic Friction Modulation and Capacitive-Type Position Sensing

A Multi-User Surface Visuo-Haptic Display Using Electrostatic Friction Modulation and Capacitive-Type Position Sensing

Passive-type rehabilitation system for upper limbs which can display the exact resistance force in the orientation opposite to hand motion

Multi-finger surface visuo-haptic rendering using electrostatic stimulation with force-direction sensing gloves

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