The Haptik Library

Pascale, M. de; Prattichizzo, Domenico

doi:10.1109/m-ra.2007.905747

Cited by 31 publications

(4 citation statements)

References 8 publications

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“…The system was composed of: (i) a hardware component, based on an off-the-shelf low-cost platform (Novint Falcon, Washington, PA) and (ii) a software component, developed in-house using MATLAB (Mathworks, Natick, MA) and “The Haptik Library” [ 39 ] by the University of Siena, Italy (www.haptiklibrary.org/).…”

Section: Methodsmentioning

confidence: 99%

Can Force Feedback and Science Learning Enhance the Effectiveness of Neuro-Rehabilitation? An Experimental Study on Using a Low-Cost 3D Joystick and a Virtual Visit to a Zoo

et al. 2013

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In this paper, we demonstrate that healthy adults respond differentially to the administration of force feedback and the presentation of scientific content in a virtual environment, where they interact with a low-cost haptic device. Subjects are tasked with controlling the movement of a cursor on a predefined trajectory that is superimposed on a map of New York City’s Bronx Zoo. The system is characterized in terms of a suite of objective indices quantifying the subjects’ dexterity in planning and generating the multijoint visuomotor tasks. We find that force feedback regulates the smoothness, accuracy, and duration of the subject’s movement, whereby converging or diverging force fields influence the range of variations of the hand speed. Finally, our findings provide preliminary evidence that using educational content increases subjects’ satisfaction. Improving the level of interest through the inclusion of learning elements can increase the time spent performing rehabilitation tasks and promote learning in a new context.

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Section: Methodsmentioning

confidence: 99%

Can Force Feedback and Science Learning Enhance the Effectiveness of Neuro-Rehabilitation? An Experimental Study on Using a Low-Cost 3D Joystick and a Virtual Visit to a Zoo

et al. 2013

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“…Due to its limited resolutions, the device is not ideal for display and haptic perception of small forces. In running this device, a component-based open-source haptic API (Haptik Library [40]) under MATLAB software is used on a Windows 8 run computer (Intel 3.2 GHz Core i5 CPU, 4 GB Ram). A MATLAB script reads the Novint Falcon encoder signals and calculates the controller output signals.…”

Section: Resultsmentioning

confidence: 99%

Frictional Compliant Haptic Contact and Deformation of Soft Objects

Zafer

Yilmaz

2016

International Journal of Advanced Robotic Systems

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This paper is concerned with compliant haptic contact and deformation of soft objects. A human soft fingertip model is considered to act as the haptic interface and is brought into contact with and deforms a discrete surface. A nonlinear constitutive law is developed in predicting normal forces and, for the haptic display of surface texture, motions along the surface are also resisted at various rates by accounting for dynamic Lund-Grenoble (LuGre) frictional forces. For the soft fingertip to apply forces over an area larger than a point, normal and frictional forces are distributed around the soft fingertip contact location on the deforming surface. The distribution is realized based on a kernel smoothing function and by a nonlinear springdamper net around the contact point. Experiments conducted demonstrate the accuracy and effectiveness of our approach in real-time haptic rendering of a kidney surface. The resistive (interaction) forces are applied at the user fingertip bone edge. A 3-DoF parallel robotic manipulator equipped with a constraint based controller is used for the implementation. By rendering forces both in lateral and normal directions, the designed haptic interface system allows the user to realistically feel both the geometrical and mechanical (nonlinear) properties of the deforming kidney.

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“…The haptic device was placed near the dominant hand; because all participants were right-handed, the haptic device was positioned on the right side of the monitor. The haptic interface can be connected and accessed through the Haptik Library (De Pascale and Prattichizzo, 2007). In addition, both haptic tasks were developed based on CHAI3D, an open-source set of C++ libraries for real-time haptic simulation, and driven with the Windows 8.1 operating system.…”

Section: Methodsmentioning

confidence: 99%

Effect of Redundant Haptic Information on Task Performance during Visuo-Tactile Task Interruption and Recovery

2016

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Previous studies have revealed that interruption induces disruptive influences on the performance of cognitive tasks. While much research has focused on the use of multimodal channels to reduce the cost of interruption, few studies have utilized haptic information as more than an associative cue. In the present study, we utilized a multimodal task interruption scenario involving the simultaneous presentation of visual information and haptic stimuli in order to investigate how the combined stimuli affect performance on the primary task (cost of interruption). Participants were asked to perform a two-back visuo-tactile task, in which visual and haptic stimuli were presented simultaneously, which was interrupted by a secondary task that also utilized visual and haptic stimuli. Four experimental conditions were evaluated: (1) paired information (visual stimulus + paired haptic stimulus) with interruption; (2) paired information without interruption; (3) non-paired information (visual stimulus + non-paired haptic stimulus) with interruption; and (4) non-paired information without interruption. Our findings indicate that, within a visuo-tactile task environment, redundant haptic information may not only increase accuracy on the primary task but also reduce the cost of interruption in terms of accuracy. These results suggest a new way of understanding the task recovery process within a multimodal environment.

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The Haptik Library

Cited by 31 publications

References 8 publications

Can Force Feedback and Science Learning Enhance the Effectiveness of Neuro-Rehabilitation? An Experimental Study on Using a Low-Cost 3D Joystick and a Virtual Visit to a Zoo

Can Force Feedback and Science Learning Enhance the Effectiveness of Neuro-Rehabilitation? An Experimental Study on Using a Low-Cost 3D Joystick and a Virtual Visit to a Zoo

Frictional Compliant Haptic Contact and Deformation of Soft Objects

Effect of Redundant Haptic Information on Task Performance during Visuo-Tactile Task Interruption and Recovery

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