Experiments in Surface Perception usinga Fingertip Haptic Display

A haptic display provides the mechanical analog of a physical environment for our sense of touch in a virtual reality (VR) simulation system. In this dissertation, we explore the design and implementation of a planar fingertip haptic display (FHD) mechanism. We first present a new technique for analysing the reachable workspace of mechanisms that have stochastic kinematic parameters. This technique is used to develop a stochastic representation of the reachable workspace of the human finger. Using this finger workspace, we present a method for selecting the kinematic parameters of a five-bar linkage mechanism to match the finger workspace while providing high-quality force output capability over the entire mechanism workspace. We then use this haptic display in psychophysical experiments which explore the human perception of geometric surface discontinuities on a haptically rendered virtual surface. Specifically, the experiments examine how the ability to perceive and locate both first-order and second-order surface discontinuities is affected by both the magnitude of the discontinuity and by the particular set of control gains used in haptically rendering the discontinuity. The results of these experiments are relevant to haptic simulation systems which approximate complex curved surfaces with planar facets: the intersection between facets is a form of surface discontinuity and the perceived smoothness of the surface is likely related to the magnitude of the change in surface gradient at these intersections.

[1]  R. Klatzky,et al.  Relative availability of surface and object properties during early haptic processing. , 1997, Journal of experimental psychology. Human perception and performance.

[2]  Hiroo Iwata,et al.  A Six Degree-of-Freedom Pen-Based Force Display , 1993, HCI.

[3]  Thomas T. Imhoff,et al.  Noise-enhanced tactile sensation , 1996, Nature.

[4]  J J Koenderink,et al.  Haptic curvature discrimination at several regions of the hand , 1997, Perception & psychophysics.

[5]  K. C. Gupta,et al.  Generation and Evaluation of the Workspace of a Manipulator , 1983 .

[6]  Tony DeRose,et al.  Geometric continuity of parametric curves: three equivalent characterizations , 1989, IEEE Computer Graphics and Applications.

[7]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part II—Implementation , 1985 .

[8]  Mandayam A. Srinivasan,et al.  Encoding of Shape in the Responses of Cutaneous Mechanoreceptors , 1991 .

[9]  Charles W. Wampler.  Winding Number Analysis of Invertible Workspaces for Redundant Manipulators , 1987, 26th IEEE Conference on Decision and Control.

[10]  Susan J. Lederman,et al.  Task-Driven Extraction of Object Contour by Human Haptics: Part 2 , 1991, Robotica.

[11]  Grigore C. Burdea,et al.  Human interface using the Rutgers Master II force feedback interface , 1996, Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium.

[12]  P W Davidson,et al.  Haptic equivalence matching of curvature by blind and sighted humans. , 1974, Journal of experimental psychology.

[13]  T. Alameldin,et al.  An adaptive and efficient system for computing the 3D reachable workspace , 1990, 1990 IEEE International Conference on Systems Engineering.

[14]  Blake Hannaford,et al.  Hard-disk actuators for mini-teleoperation , 1995, Other Conferences.

[15]  K. Sugimoto,et al.  Determination of Extreme Distances of a Robot Hand—Part 1: A General Theory , 1981 .

[16]  C. Hanley,et al.  Size constancy in extended haptic space , 1974 .

[17]  H. Tan.  Identification of Sphere Size Using the PHANToM: Towards a Set of Building Blocks for Rendering Haptic Environment , 1997, Dynamic Systems and Control.

[18]  Fujio Yamaguchi,et al.  Curves and Surfaces in Computer Aided Geometric Design , 1988, Springer Berlin Heidelberg.

[19]  S. Shankar Sastry,et al.  Optimal Kinematic Design of 6R Manipulators , 1988, Int. J. Robotics Res..

[20]  C. Reed,et al.  Perceptual Dependence for Shape and Texture during Haptic Processing , 1994, Perception.

[21]  R. Klatzky,et al.  Haptic identification of objects and their depictions , 1993, Perception & psychophysics.

[22]  B. Buchholz,et al.  Anthropometric data for describing the kinematics of the human hand. , 1992, Ergonomics.

[23]  Pietro Buttolo,et al.  Characterization of Human Pen Grasp With Haptic Displays , 1996 .

[24]  P. Peebles.  Probability, Random Variables and Random Signal Principles , 1993 .

[25]  J. Edward Colgate,et al.  Issues in the haptic display of tool use , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[26]  Vincent Hayward,et al.  Design and multi-objective opti-mization of a link a for a haptic interface , 1994 .

[27]  H. Gouraud.  Continuous Shading of Curved Surfaces , 1971, IEEE Transactions on Computers.

[28]  D. C. H. Yang,et al.  On the Workspace of Mechanical Manipulators , 1983 .

[29]  P W Davidson,et al.  Haptic judgments of curvature by blind and sighted humans. , 1972, Journal of experimental psychology.

[30]  Blake Hannaford,et al.  A two-port framework for the design of unconditionally stable haptic interfaces , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[31]  A. H. Soni,et al.  An Algorithm for the Workspace of a General n-R Robot , 1983 .

[32]  H. Piaggio.  Differential Geometry of Curves and Surfaces , 1952, Nature.

[33]  Gregory S. Chirikjian,et al.  Efficient workspace generation for binary manipulators with many actuators , 1995, J. Field Robotics.

[34]  R. Klatzky,et al.  Haptic exploration in the presence of vision. , 1993, Journal of experimental psychology. Human perception and performance.

[35]  Jahangir Rastegar,et al.  Generation of manipulator workspace boundary geometry using the Monte Carlo method and interactive computer graphics , 1990 .

[36]  G Stanley,et al.  Adding and averaging angles: comparison of haptic-visual and visual-visual information integration. , 1974, Acta psychologica.

[37]  Karun B. Shimoga,et al.  A survey of perceptual feedback issues in dexterous telemanipulation. II. Finger touch feedback , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[38]  J. Koenderink,et al.  Haptic identification of curved surfaces , 1994, Perception & psychophysics.

[39]  E. C. Kingsley,et al.  A computer aid for man machine modelling , 1981, SIGGRAPH '81.

[40]  Ian M. L. Hunter.  Tactile-Kinaesthetic Perception of Straightness in Blind and Sighted Humans , 1954 .

[41]  J J Koenderink,et al.  Haptic Aftereffect of Curved Surfaces , 1996, Perception.

[42]  Remco C. Veltkamp,et al.  Survey of Continuities of Curves and Surfaces , 1992, Comput. Graph. Forum.

[43]  Keith Case,et al.  SAMMIE can cut out the prototypes in ergonomic design. , 1980 .

[44]  Astrid M L Kappers,et al.  Haptic Unilateral and Bilateral Discrimination of Curved Surfaces , 1996, Perception.

[45]  Wan Kyun Chung,et al.  General Algorithm for Automatic Generation of the Workspace for n-link Planar Redundant Manipulators , 1994 .

[46]  Phillip J. McKerrow,et al.  Introduction to robotics , 1991 .

[47]  Byung-Ju Yi,et al.  Optimal kinematic design of an anthropomorphic robot module with redundant actuators , 1997 .

[48]  Robert D. Howe,et al.  A holistic model of human touch , 1997 .

[49]  K. Sugimoto,et al.  Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry , 1981 .

[50]  Sadao Kawamura,et al.  A tactile display using human characteristic of sensory fusion , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[51]  Henry Sowizral,et al.  Implementation of Dynamic Robotic Graphics For a Virtual Control Panel , 1997, Presence: Teleoperators & Virtual Environments.

[52]  J J Koenderink,et al.  Anisotropy in Haptic Curvature and Shape Perception , 1998, Perception.

[53]  Jacqueline J. Goodnow,et al.  A haptic error: Skew in a symmetrical curve , 1971 .

[54]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[55]  R. Selfridge.  The reachable workarea of a manipulator , 1983 .

[56]  John Kenneth Salisbury,et al.  A constraint-based god-object method for haptic display , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[57]  Manja V. Kircanski,et al.  Kinematic Isotropy and Optimal Kinematic Design of Planar Manipulators and a 3-DOF Spatial Manipulator , 1996, Int. J. Robotics Res..

[58]  Blake Hannaford,et al.  Pen-based force display for precision manipulation in virtual environments , 1995, Proceedings Virtual Reality Annual International Symposium '95.

[59]  L. Cocchiarella,et al.  Guides to the evaluation of permanent impairment , 2000 .

[60]  Lorraine Williams Pedretti,et al.  Occupational Therapy: Practice Skills for Physical Dysfunction , 1985 .

[61]  R. D. Easton,et al.  Finger pressure during tracking of curved contours: Implications for a visual dominance phenomenon , 1978, Perception & psychophysics.

[62]  I. Gordon,et al.  The haptic perception of curvature , 1982, Perception & psychophysics.

[63]  F A Mussa-Ivaldi,et al.  Haptic illusions: experiments on human manipulation and perception of "virtual objects". , 1990, Cold Spring Harbor symposia on quantitative biology.

[64]  S Lakatos,et al.  Haptic Underestimation of Angular Extent , 1998, Perception.

[65]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[66]  O. Zangwill,et al.  A NOTE ON TACTUAL PERCEPTION IN A BLIND SUBJECT , 1940 .

[67]  Jr. Roebuck,et al.  Anthropometric Methods: Designing to Fit the Human Body , 1995 .

[68]  James U. Korein,et al.  A geometric investigation of reach , 1985 .

[69]  Astrid M L Kappers,et al.  Haptic Discrimination of Doubly Curved Surfaces , 1994, Perception.

[70]  S Appelle,et al.  Visual and haptic angle perception in the matching task. , 1971, The American journal of psychology.

[71]  Vincent Hayward,et al.  Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy , 1992, IEEE Trans. Robotics Autom..

[72]  Blake Hannaford,et al.  Kinesthetic displays for remote and virtual environments , 1995 .

[73]  B Kayis,et al.  A three-dimensional human model for the IBM/CATIA system. , 1994, Applied ergonomics.

[74]  A Kumar,et al.  Mapping the Manipulator Workspace Using Interactive Computer Graphics , 1986 .

[75]  Susan J. Lederman,et al.  Task-Driven Extraction of Object Contour by Human Haptics: Part 1 , 1991, Robotica.

[76]  J W Garrett,et al.  The Adult Human Hand: Some Anthropometric and Biomechanical Considerations , 1971, Human factors.

[77]  Kenneth J. Waldron,et al.  The Workspaces of a Mechanical Manipulator , 1981 .

[78]  Bruno M. Jau,et al.  Man-equivalent telepresence through four fingered human-like hand system , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[79]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .