Some basic issues in teletaction

Teletaction is the transmission of cutaneous information from a remote tactile sensor to an operator's skin, typically the finger tips. Ideally, one would like a realistic sensation of directly touching an object with one's own finger and sense properties such as local shape, hardness, or texture. Teletaction or tactile feedback is one component of haptic feedback, the other component being force or kinesthetic feedback. This paper considers design issues for teletaction systems, particularly sampling density, aliasing, and the limitations of using an array of 1-DOF actuators to approximate a continuous stress distribution on the human finger.

[1]  James C. Bliss.  A Relatively High-Resolution Reading Aid for the Blind , 1969 .

[2]  K. Johnson.  Contact Mechanics: Frontmatter , 1985 .

[3]  Malcolm W. Daniels,et al.  Tactile feedback with adaptive controller for a force-reflecting haptic display. 1. Design , 1996, Proceedings of the 1996 Fifteenth Southern Biomedical Engineering Conference.

[4]  D. De Rossi,et al.  A stress-component-selective tactile sensor array , 1992 .

[5]  M. Shimojo,et al.  Spatial filtering characteristic of elastic cover for tactile sensor , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[6]  K. O. Johnson,et al.  Tactile spatial resolution. III. A continuum mechanics model of skin predicting mechanoreceptor responses to bars, edges, and gratings. , 1981, Journal of neurophysiology.

[7]  R. E. Ellis,et al.  Singular-value and finite-element analysis of tactile shape recognition , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[8]  Ronald S. Fearing,et al.  Tactile feedback for teleoperation , 1993, Other Conferences.

[9]  Ronald S. Fearing,et al.  The reliability of curvature estimates from linear elastic tactile sensors , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[10]  Eden Tan.  Estimating Human Tactile Resolution Limits for Stimulator Design , 1995 .

[11]  Ronald S. Fearing,et al.  Sensing capabilities of linear elastic cylindrical fingers , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[12]  Ronald S. Fearing,et al.  A surface micromachined microtactile sensor array , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[13]  Robert D. Howe,et al.  Tactile sensing and control of robotic manipulation , 1993, Adv. Robotics.

[14]  Robert D. Howe,et al.  Remote palpation technology , 1995 .

[15]  J. Barbera,et al.  Contact mechanics , 1999 .

[16]  M. Srinivasan,et al.  Responses of cutaneous mechanoreceptors to the shape of objects applied to the primate fingerpad. , 1993, Acta psychologica.

[17]  John G. Webster,et al.  Telepresence for touch and proprioception in teleoperator systems , 1988, IEEE Trans. Syst. Man Cybern..

[18]  W.J. Tompkins,et al.  Electrotactile and vibrotactile displays for sensory substitution systems , 1991, IEEE Transactions on Biomedical Engineering.

[19]  P. Dario,et al.  An advanced robot system for automated diagnostic tasks through palpation , 1988, IEEE Transactions on Biomedical Engineering.

[20]  R. S. Fearing,et al.  Tactile Sensing Mechanisms , 1990, Int. J. Robotics Res..

[21]  K. B. Shimoga,et al.  Finger Force and Touch Feedback Issues in Dexterous Telemanipulation , 1992, Proceedings. Fourth Annual Conference on Intelligent Robotic Systems for Space Exploration.