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"Haptic devices."
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Development of a Wearable Haptic Glove Presenting Haptic Sensation by Electrical Stimulation
Most haptic devices generate haptic sensation using mechanical actuators. However, the workload and limited workspace handicap the operator from operating freely. Electrical stimulation is an alternative approach to generate haptic sensations without using mechanical actuators. The light weight of the electrodes adhering to the body brings no limitations to free motion. Because a real haptic sensation consists of feelings from several areas, mounting the electrodes to several different body areas can make the sensations more realistic. However, simultaneously stimulating multiple electrodes may result in “noise” sensations. Moreover, the operators may feel tingling because of unstable stimulus signals when using the dry electrodes to help develop an easily mounted haptic device using electrical stimulation. In this study, we first determine the appropriate stimulation areas and stimulus signals to generate a real touch sensation on the forearm. Then, we propose a circuit design guideline for generating stable electrical stimulus signals using a voltage divider resistor. Finally, based on the aforementioned results, we develop a wearable haptic glove prototype. This haptic glove allows the user to experience the haptic sensations of touching objects with five different degrees of stiffness.
Journal Article
Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom
In bilateral teleoperation of a dexterous task, to take full advantage of the human's intelligence, experience and sensory inputs, a possibility is to engage multiple human arms through multiple masters (haptic devices) in controlling a single-slave robot with high degrees-of-freedom (DOF); the total DOFs of the masters will be equal to the DOFs of the slave. A multi-master/single-slave cooperative haptic teleoperation system with w DOFs can be modelled as a two-port network where each port (terminal) connects to a termination defined by w inputs and w outputs. The stability analysis of such a system is not trivial because of dynamic coupling across the different DOFs of the robots, the human operators and the physical or virtual environments. The unknown dynamics of the users and the environments exacerbate the problem. The authors present a novel, straightforward and convenient frequency-domain method for stability analysis of this system. As a case study, two 1-DOF and 2-DOF master haptic devices are considered to teleoperate a 3-DOF slave robot. It is qualitatively discussed how such a trilateral haptic teleoperation system may result in better task performance by splitting the various DOFs of a dexterous task between two arms of a human or two humans. Simulation and experimental results demonstrate the validity of the stability analysis framework.
Journal Article
Recent Developments in Haptic Devices Designed for Hearing-Impaired People: A Literature Review
Haptic devices transmit information to the user, using tactile stimuli to augment or replace sensory input. People with limited sensory abilities, such as vision or hearing can receive supplementary information by relying on them. This review analyses recent developments in haptic devices for deaf and hard-of-hearing individuals by extracting the most relevant information from each of the selected papers. The process of finding relevant literature is detailed using the PRISMA guidelines for literature reviews. In this review, the devices are categorized to better understand the review topic. The categorization results have highlighted several areas of future research into haptic devices for hearing-impaired users. We believe this review may be useful to researchers interested in haptic devices, assistive technologies, and human–computer interaction.
Journal Article
An Application-Based Review of Haptics Technology
Recent technological development has led to the invention of different designs of haptic devices, electromechanical devices that mediate communication between the user and the computer and allow users to manipulate objects in a virtual environment while receiving tactile feedback. The main criteria behind providing an interactive interface are to generate kinesthetic feedback and relay information actively from the haptic device. Sensors and feedback control apparatus are of paramount importance in designing and manufacturing a haptic device. In general, haptic technology can be implemented in different applications such as gaming, teleoperation, medical surgeries, augmented reality (AR), and virtual reality (VR) devices. This paper classifies the application of haptic devices based on the construction and functionality in various fields, followed by addressing major limitations related to haptics technology and discussing prospects of this technology.
Journal Article
A Novel Untethered Hand Wearable with Fine-Grained Cutaneous Haptic Feedback
During open surgery, a surgeon relies not only on the detailed view of the organ being operated upon and on being able to feel the fine details of this organ but also heavily relies on the combination of these two senses. In laparoscopic surgery, haptic feedback provides surgeons information on interaction forces between instrument and tissue. There have been many studies to mimic the haptic feedback in laparoscopic-related telerobotics studies to date. However, cutaneous feedback is mostly restricted or limited in haptic feedback-based minimally invasive studies. We argue that fine-grained information is needed in laparoscopic surgeries to study the details of the instrument’s end and can convey via cutaneous feedback. We propose an exoskeleton haptic hand wearable which consists of five 4 × 4 miniaturized fingertip actuators, 80 in total, to convey cutaneous feedback. The wearable is described as modular, lightweight, Bluetooth, and WiFi-enabled, and has a maximum power consumption of 830 mW. Software is developed to demonstrate rapid tactile actuation of edges; this allows the user to feel the contours in cutaneous feedback. Moreover, to demonstrate the idea as an object displayed on a flat monitor, initial tests were carried out in 2D. In the second phase, the wearable exoskeleton glove is then further developed to feel 3D virtual objects by using a virtual reality (VR) headset demonstrated by a VR environment. Two-dimensional and 3D objects were tested by our novel untethered haptic hand wearable. Our results show that untethered humans understand actuation in cutaneous feedback just in a single tapping with 92.22% accuracy. Our wearable has an average latency of 46.5 ms, which is much less than the 600 ms tolerable delay acceptable by a surgeon in teleoperation. Therefore, we suggest our untethered hand wearable to enhance multimodal perception in minimally invasive surgeries to naturally feel the immediate environments of the instruments.
Journal Article
Development of a Haptic Device with Wire-Driven Parallel Structure
This study focuses on the specific problems that may arise in the development of a parallel, cable-driven device designed for teleoperations systems utilizing force-reflection feedback. A redundant six degrees-of-freedom structure, actuated by nine wires, is described as a convenient layout for a haptic master for telemanipulation. A methodology for the kinematic and static analysis and the evaluation of the device workspace is described. The condition of force closure is used to find all available poses of the end-effector, thereby defining the workspace, whose characteristics are assessed by opportunely conceived indexes. Typical characteristics of cable and implementations thereof in the device are considered. Regarding the realization of the device, relevant attention is given to the definition of the control logic, which can be complex for parallel devices. The selection of the actuators, crucial in realizing force feedback, is discussed. In particular, pneumatic actuation is considered, verified as the most appropriate method for implementation and force control of the cylinders.
Journal Article
Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery
This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large workspace of the serial robots. The optimal synthesis of the nHH was performed using real-coded genetic algorithms. The optimization criteria and constraints were established and successively formulated and solved using a mono-objective function. A validation and comparison study were performed between the spherical parallel manipulator and the nHH. The obtained results are promising since the nHH is compared to other similar task devices, such as spherical parallel manipulator, and presents a suitable kinematic performance with a task workspace free singularity inside.
Journal Article
Individuals with and without Visual Impairments Use a Force Feedback Device to Identify the Friction and Hardness of Haptic Surfaces
The general purpose of this study is to promote access to haptic virtual environments. Using a haptic device, people with and without visual impairments (VI) are able to feel different textures and compare these textures based on different surface properties, i.e., friction and hardness. The objectives of this study were to examine the following: (a) whether the variables of friction and hardness were identifiable through the Touch device (Phantom Omni) and could therefore function as 3D haptic variables; (b) if there were differences between people with VI and sighted individuals in terms of their performance; (c) the differences that should exist between the values of each variable so that the virtual surfaces could be identified as different to each other; and (d) if the individual characteristics of participants have an impact on their performance. The results showed that it is necessary to use surfaces which are differentiated based on the degree of friction and hardness because the haptic properties of a virtual object are then better perceived. Individuals with VI need more time and more effort to understand friction and hardness, respectively. With the motivation of increasing access to object perception for people with VI in a virtual environment, accessibility advisors and experts can extract useful information for the development of functional and efficient 3D objects for haptic perception.
Journal Article