Technologies for haptic displays in teleoperation

Monkman, Gareth J.; Egersdörfer, Stefan; Meier, A.; Böse, Holger; Baumann, Mario; Ermert, H.; Kahled, W.; Freimuth, H.

doi:10.1108/01439910310506792

Cited by 6 publications

(3 citation statements)

References 10 publications

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“…With sensory substitution, ETS is delivered to provide sensory information of sensation that is mildly or completely impaired (Bach-y-Rita and Kercel 2003; Szeto and Riso 1990; Tyler et al 2003). In sensory augmentation, ETS is used to enhance the response of an intact sensory system, such as to determine orientation in the dark or provide tactile sensation for tele-manipulation (Monkman et al 2003; Tang and Beebe 2006). …”

Section: Introductionmentioning

confidence: 99%

Electrotactile stimulation on the tongue: Intensity perception, discrimination, and cross-modality estimation

Lozano

Kaczmarek

Santello

2009

Somatosensory & Motor Research

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Due to its high sensitivity and conductivity, electrotactile stimulation (ETS) on the tongue has proven to be a useful and technically convenient tool to substitute and/or augment sensory capabilities. However, most of its applications have only provided spatial attributes and little is known about (a) the ability of the tongue's sensory system to process electrical stimuli of varying magnitudes and (b) how modulation of ETS intensity affects subjects' ability to decode stimulus intensity. We addressed these questions by quantifying: (1) the magnitude of the dynamic range (DR; maximal comfortable intensity/perception threshold) and its sensitivity to prolonged exposure; (2) subjects' ability to perceive intensity changes; and (3) subjects' ability to associate intensity with angular excursions of a protractor's handle. We found that the average DR (17 dB) was generally large in comparison with other tactile loci and of a relatively constant magnitude among subjects, even after prolonged exposure, despite a slight but significant upward drift (P < 0.001). Additionally, our results showed that as stimulus intensity increased, subjects' ability to discriminate ETS stimuli of different intensities improved (P < 0.05) while estimation accuracy, in general, slightly decreased (increasing underestimation). These results suggest that higher ETS intensity may increase recruitment of rapidly adapting mechanoreceptor fibers, as these are specialized for coding stimulus differences rather than absolute intensities. Furthermore, our study revealed that the tongue's sensory system can effectively convey electrical stimuli despite minimal practice and when information transfer is limited by memory and DR drift.

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Section: Introductionmentioning

confidence: 99%

Electrotactile stimulation on the tongue: Intensity perception, discrimination, and cross-modality estimation

Lozano

Kaczmarek

Santello

2009

Somatosensory & Motor Research

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“…The use of GaAs for the switching of high voltages was first mentioned in 1989, though with Schottky contacts (Wiener et al 1989). Originally conceived for the control of electrorheological fluid based tactile displays, where large arrays of small elements are required, GaAs was employed as an optical high voltage switch without PN-junctions (Monkman et al 2003). The extremely high dark resistance of semi-insulating GaAs and low voltage dependency means that only the surface of the material is brought into conduction.…”

Section: Gaas Photoconductive Devicesmentioning

confidence: 99%

Magnetically enhanced photoconductive high voltage control

Monkman

Sindersberger

Prem

2022

ISSS J Micro Smart Syst

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The recent surge of interest in electrostatic actuators, particularly for soft robotic applications, has placed increasing demands on high voltage control technology. In this respect, optoelectronic bidirectional switching and analogue regulation of high voltages is becoming increasingly important. One common problem is the leakage current due to dark resistance of the material or device used. Another is the physical size of such elements. However, their ability to provide galvanic separation makes them a very attractive alternative to conventional (wired) semiconductor elements. This paper gives an overview of available methods and devices before introducing a concept based on the combination of photoresistive and magnetoresistive effects in Gallium Arsenide that are potentially applicable to other semiconductor materials.

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“…A newly developed ER fluid, designated ERF 168-3, was selected as particularly suitable to use in the haptic actuator, due to its high shear stress at lower field strength requirements. The control of the actuators with voltages of up to 2 kV and very small current flows required new switching concepts based on special light sensitive semiconductor materials [10]. Going from design to production several methods, processes and materials can be used to produce micro-structured products.…”

Section: Tactile Actuator With Er Fluidmentioning

confidence: 99%

A New Haptic Sensor Actuator System for Virtual Reality Applications in Medicine

Khaled

Reichling

Bruhns

et al. 2003

Lecture Notes in Computer Science

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Abstract. The pathological state of soft tissues is often correlated with changes in stiffness. Malignant tumors are significantly stiffer and more immobile than surrounding healthy tissue. (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The main problem is, that such information is usually not available or can only be obtained by manual palpation, which is subjective and limited in sensitivity. It requires intuitive assessment and does not allow quantitative documentation. On the one hand a suitable sensor is required for quantitative measurement of mechanical tissue properties. On the other hand, there is also a need for a realistic mechanical display of such tissue properties. Suitable actuator arrays with high spatial resolution acting in real time are required. A haptic sensor actuator system is presented in this paper including a sensitive sensor part and an actuator array for different applications. The mechanical consistency of an object is to be locally specified using a sensor system and represented perceptibly in a remote position on a tactile display (actuator system) for the user. The sensor system uses ultrasound (US) elastography, whereas the actuator array is based on electrorheological (ER) fluids.

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Technologies for haptic displays in teleoperation

Cited by 6 publications

References 10 publications

Electrotactile stimulation on the tongue: Intensity perception, discrimination, and cross-modality estimation

Electrotactile stimulation on the tongue: Intensity perception, discrimination, and cross-modality estimation

Magnetically enhanced photoconductive high voltage control

A New Haptic Sensor Actuator System for Virtual Reality Applications in Medicine

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