Integration of a Particle Jamming Tactile Display with a Cable-Driven Parallel Robot

Stanley, Andrew A.; Mayhew, David; Irwin, Rikki; Okamura, Allison M.

doi:10.1007/978-3-662-44196-1_32

Cited by 7 publications

(2 citation statements)

References 13 publications

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“…In virtual reality, soft hatic devices can be worn to provide haptic feedback naturally to different parts of the body [11,9,1]. In telerobotics, particle jamming can be integrated into interactive devices [3] where changes of hardness have been shown to be useful to relay environmental information to users of remote robots [10].…”

Section: Introductionmentioning

confidence: 99%

Using Audio Recordings to Characterise a Soft Haptic Joystick

Brown

Farkhatdinov

2022

Haptic and Audio Interaction Design

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The principle of particle jamming, a physical effect where fluids can be made to change their hardness at will, has many applications in engineering. Previous research has investigated combining this change of hardness with other haptic effects, resulting in a technology that can render vibration, hardness/softness and shape. This paper proceeds to describe the application of this technology to a soft haptic joystick handle for use in interactive games and telerobotics scenarios. Dynamically generated sound waveforms are used to drive vibrations inside the handle, and a microphone records these as they reach the tip of the handle under different jamming conditions. Audio frequency analysis is then used to analyse the behaviour of the resulting vibrations. This analysis shows that vibration is lowest under a strong vacuum, confirming previous observations that increasing the hardness of the particle fluid has the effect of restricting the displacement of the source vibrations. Moreover, frequency of vibration remained broadly stable in both hard and soft states again confirming previous observations. These results, obtained with a fundamentally different haptic device and soundbased instrumentation, necessitate the conclusion that the behaviour of particle jamming controlled vibration is repeatable and controllable regardless of the physical configuration in which it is used.

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Section: Introductionmentioning

confidence: 99%

Using Audio Recordings to Characterise a Soft Haptic Joystick

Brown

Farkhatdinov

2022

Haptic and Audio Interaction Design

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“…Particle jamming has been used to create small and large scale tactile interfaces. For example, soft cells filled with small particles can be hardened by creating an area of low air pressure inside an arrangement of the cells, affecting their stiffness and by extension, resistance to the user's touch [2], [3], [4], [5], [6]. Large format display based on particle jamming was used to transmit vibration uniformly to a large body areas [7].…”

Section: Introductionmentioning

confidence: 99%

Soft Haptic Interface based on Vibration and Particle Jamming

Brown

Farkhatdinov

2020

2020 IEEE Haptics Symposium (HAPTICS)

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Whilst common in devices ranging from smartphones to game controllers, vibrotactile feedback has generally been limited to providing a uniform sensation across a tactile surface. We propose a haptic interface based on the emerging physical effect of particle jamming with both vibrotactile and shape changing outputs, which can be extended in space to create haptic surfaces and devices with shape and vibrotactile responses localised to one part of the device. This paper gives an overview of the physical principles behind this technology and presents detailed performance metrics obtained from a working prototype. These include experimental characterization of the relationships between air pressure and electric motor power and vibration amplitude and frequency which show that it is possible to control vibrotactile amplitude and frequency independently.

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