T-hive : Vibrotactile interface presenting spatial information on handle surface

Ryu, Dongseok; Yang, Gi-Hun; Kang, Sungchul

doi:10.1109/robot.2009.5152740

Cited by 27 publications

(10 citation statements)

References 6 publications

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“…The thrust of the mover is calculated by the Maxwell stress tensor method, and is substituted into (4) and (5). The position of the mover is calculated at each time step.…”

Section: Coupled Analysis With Motion Equationmentioning

confidence: 99%

See 1 more Smart Citation

Optimization of Asymmetric Acceleration Waveform for Haptic Device Driven by Two-Degree-of-Freedom Oscillatory Actuator

2016

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Mobile haptic devices are being studied extensively because they have great potential for use as information transfer devices. Amemiya et al. proposed a method for haptic feedback with a slider-crank mechanism that uses an asymmetrical drive. We have recently proposed a haptic device that uses a small two degree-of-freedom (2-DOF) oscillatory actuator. Using this actuator, we were able to reproduce the same asymmetric acceleration as the one achieved by Amemiya. However this waveform is dependent on the mechanical structure of the slider-crank mechanism and thus it is not necessary to use it for our actuator. In this paper, first, the relationship of the properties of the asymmetric acceleration to haptic perception is investigated by conducting experiments on volunteers. Next, by applying a genetic algorithm to the optimization method, an optimized asymmetric acceleration waveform is created. The effectiveness of the method is demonstrated by the power consumption of our actuator and the ratio of correct answers given by the volunteers.

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“…The thrust of the mover is calculated by the Maxwell stress tensor method, and is substituted into (4) and (5). The position of the mover is calculated at each time step.…”

Section: Coupled Analysis With Motion Equationmentioning

confidence: 99%

“…Haptic devices that employ vibration (5) (6) have been studied. Amemiya et al proposed a method for haptic feedback with a slider-crank mechanism that uses asymmetrical drive (7) (8) .…”

Section: Introductionmentioning

confidence: 99%

Optimization of Asymmetric Acceleration Waveform for Haptic Device Driven by Two-Degree-of-Freedom Oscillatory Actuator

2016

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“…In this section, the structure of the developed vibrotactile input device, named T-hive (an abbreviation of tactile hive-its outer shape being similar to a beehive), is described elsewhere (Ryu, Yang, & Kang, 2009). The device can provide isolated vibrotactile cues from 13 patches of vibrotactile surface, and it can handle 6-DOF inputs consisting of three translational and three rotational inputs.…”

Section: T-hive: Vibrotactile Input Devicementioning

confidence: 99%

“…Based on these features, we rendered a vibrotactile stimulus for displaying a continuous spatial location for the entire surface of the upper sphere. A detailed description is included in our previous work (Ryu et al, 2009). We expressed an arbitrary point by discretely located actuators.…”

Section: Phantom Sensationmentioning

confidence: 99%

Sensory Saltation and Phantom Sensation for Vibrotactile Display of Spatial and Directional Information

Yang

Ryu

Park

et al. 2012

Presence: Teleoperators and Virtual Environments

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This study proposes a novel handheld vibrotactile display (T-hive) to provide a human operator with spatial and directional information. The proposed design is composed of a spherical knob with a vibrotactile surface and a moving base that allows 6-DOF motion. To isolate vibrotactile stimuli provided by multiple actuators, the spherical knob is divided into 13 vibrotactile modules. Each vibrotactile module consists of a vibration motor, a patch of spherical surface, and a vibration isolator. By coordinating the vibrotactile modules, the vibrotactile display delivers spatial and directional information based on phantom sensation and sensory saltation. Through experiments, we evaluated the effectiveness of the spatial and directional information perceived on the palm and fingers of the operator's hand. The experimental results confirm that vibrotactile feedback is useful for object control by providing intuitive information.

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“…The micro-controller updates the PWM commands with 1msec sampling time. The process in which to calculate the power of each actuator for continuous spatial information is described in our previous work [10]. Sensory illusions were actively utilized to make appropriate vibrotactile stimulation of various kind of tactile display by several researchers [2,3,5].…”

Section: B Design Criteriamentioning

confidence: 99%

Vibrotactile cradle for smart cell-phone providing spatial and directional cues

Yang

Jin

et al. 2011

2011 IEEE International Conference on Robotics and Biomimetics

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In this paper, we applied famous sensory illusions to generate spatial and directional vibrotactile cues using a vibrotactile cradle for the smart cell-phone. A grooved and slim design is applied to the contact side of the cradle for comfortable gripping, and the contact part consists of twelve vibrotactile areas which can operate independently. To maintain isolation among vibrotactile actuators, the surface of the cover is specially designed to absorb propagating vibration over the surface. The cradle's backside consists of twelve linear resonant actuators, a soft covering intersections and supporting area for actuators. For an evaluation of the developed device, two experiments were conducted to test whether directional information and spatial information according to visual data can be successfully displayed by the developed device. As a result, spatial and directional information is useful for displaying intuitive information for smart cell-phone application with the cradle.

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T-hive : Vibrotactile interface presenting spatial information on handle surface

Cited by 27 publications

References 6 publications

Optimization of Asymmetric Acceleration Waveform for Haptic Device Driven by Two-Degree-of-Freedom Oscillatory Actuator

Optimization of Asymmetric Acceleration Waveform for Haptic Device Driven by Two-Degree-of-Freedom Oscillatory Actuator

Sensory Saltation and Phantom Sensation for Vibrotactile Display of Spatial and Directional Information

Vibrotactile cradle for smart cell-phone providing spatial and directional cues

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