Real-time remote transmission of multiple tactile properties through master-slave robot system

Abstract

Remote transmission of high quality sense of touch requires the representation of multiple tactile properties and compensation of communication delay. We developed a realtime remote transmission system that can deliver multiple tactile properties using a master-slave robot system. First, we assessed what type of tactile properties should be transmitted and how to connect them in real time. Three tactile propertiesroughness, friction, and softness-were transmitted on the basis of the real-time estimated physical properties of three main wavelengths, a kinetic friction coefficient, and spring constants, respectively. Tactile stimulations were generated in synchronization with hand exploration at the master side by using local tactile generation models to compensate for communication time delay. The transmission of multiple tactile properties was achieved by the integration and enhancement of our previously reported methods for vibrotactile displays and tactile sensors. A discrimination experiment using different materials showed the feasibility of the total system involving the three tactile properties.

A method for altering vibrotactile textures based on specified materials

“…Using these methods, the end users can potentially create and modify virtual textures by adjusting these familiar primitives. Our technology clearly differs from the methods in [12] and [13], which are based on specified physical and psychophysical properties, whereas our method is based on specified materials. Providing these methods together will be more helpful for end users when designing virtual textures.…”

“…The authors then presented virtual materials by combining these physical primitives. Yamauchi et al also proposed a method for synthesizing three types of psychophysical primitives, i.e., perceived roughness, softness, and friction, for vibrotactile texture displays [13]. Using these methods, the end users can potentially create and modify virtual textures by adjusting these familiar primitives.…”

Friction perception resulting from laterally vibrotactile stimuli

“…However, there are few known methods for evoking friction perception by applying vibratory stimuli to a fingertip. A unique example may be the method proposed by Konyo et al [16,17] that delivered the sense of the stick-slip phenomenon by using high-frequency (250 Hz) vibrotactile stimuli. In terms of the presentation of virtual materials, vibrotactile approaches are especially effective for surface roughness (e.g., [18][19][20][21][22]).…”

“…In terms of the presentation of virtual materials, vibrotactile approaches are especially effective for surface roughness (e.g., [18][19][20][21][22]). Moreover, the vibrotactile stimuli are used for hardness [23][24][25][26] and softness [17,[27][28][29] presentation, respectively, in tapping and pushing the object surface. However, thus far, few researchers have attempted to deliver the frictional characteristics in sliding on the surface using the vibrotactile stimuli.…”

Discriminability-based evaluation of transmission capability of tactile transmission systems

“…In such systems, tactile sensors and displays are installed in slave and master robots, respectively. The sensation of the textures touched by the slave robot is transmitted to the operator by means of tactile displays (Yamauchi et al 2010;Yamamoto et al 2006). In palpation systems used for minimally invasive surgery, tactile sensors have been installed on the tip of probes.…”