Contact Location Display for Haptic Perception of Curvature and Object Motion

We present a new tactile display for use in dexterous telemanipulation and virtual reality. Our system renders the location of the contact centroid moving on the user’s fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We believe such a design will enable more versatile object manipulation and richer haptic interactions. To evaluate this display concept, we conducted two perceptual experiments. First, human subjects judged object curvature using both direct manipulation of physical models and virtual manipulation via the device. Results show similar levels of discrimination in real and virtual interactions, indicating the device can effectively portray contact information. Secondly, we investigated virtual interactions with rolling and anchored objects and demonstrated that users are able to distinguish the interaction type using our device. These experiments give insight into the sensitivity of human perception and suggest that even a simple display of the contact centroid location may significantly enhance telerobotic or virtual grasping tasks.

[1]  Mark R. Cutkosky,et al.  Haptic display of contact location , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[2]  Christopher R. Wagner,et al.  A compliant tactile display for teletaction , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Tsuneo Yoshikawa,et al.  Designing an encountered-type haptic display for multiple fingertip contacts based on the observation of human grasping behavior , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[4]  Nicola J. Ferrier,et al.  Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping , 2002 .

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

[6]  Steven S. Hsiao,et al.  Control and Pattern Specification for a High Density Tactile Array , 1998, Dynamic Systems and Control.

[7]  Hiroo Iwata,et al.  Haptic interfaces , 2002 .

[8]  Mark H. Lee,et al.  Tactile Sensing: New Directions, New Challenges , 2000, Int. J. Robotics Res..

[9]  Ove Franzén,et al.  Information Processing in the Somatosensory System , 1991 .

[10]  L. Kaufman,et al.  Handbook of Perception and Human Performance. Volume 2. Cognitive Processes and Performance , 1994 .

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

[12]  S. Lederman,et al.  TACTUAL PERCEPTION , 2003 .

[13]  Tsuneo Yoshikawa,et al.  A three-dimensional touch/force display system for haptic interface , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[14]  J J Koenderink,et al.  Active haptic detection and discrimination of shape , 2002, Perception & psychophysics.

[15]  野間 春生,et al.  Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 参加報告 , 1997 .

[16]  David J. Montana,et al.  The Kinematics of Contact and Grasp , 1988, Int. J. Robotics Res..

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

[18]  Mark R. Cutkosky,et al.  On tactile sensing and display , 2003 .

[19]  Robert D. Howe,et al.  A tactile shape sensing and display system for teleoperated manipulation , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[20]  G. Gescheider.  Psychophysics: The Fundamentals , 1997 .

[21]  A. Goodwin,et al.  Tactile discrimination of curvature by humans using only cutaneous information from the fingerpads , 2004, Experimental Brain Research.

[22]  Mark R. Cutkosky,et al.  Perception of Curvature and Object Motion Via Contact Location Feedback , 2003, ISRR.

[23]  Thomas H. Massie,et al.  The PHANToM Haptic Interface: A Device for Probing Virtual Objects , 1994 .

[24]  R. Fearing.  Tactile sensing, perception and shape interpretation (cones) , 1988 .

[25]  Vincent Hayward,et al.  Tactile Display Device Using Distributed Lateral Skin Stretch , 2000, Dynamic Systems and Control: Volume 2.

[26]  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.