Haptics ME7960, Sect. 007 Lect. 7: Device Design II

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1 Haptics ME7960, Sect. 007 Lect. 7: Device Design II Spring 2011 Prof. William Provancher University of Utah Salt Lake City, UT USA We would like to acknowledge the many colleagues whose course materials were borrowed and adapted in putting together this course, namely: Drs. Allison Okamura (JHU), Katherine Kuchenbecker (U Penn), Francois Conti, Federico Barbagli, and Kenneth Salisbury (Stanford), Ed Colgate (Northwestern), Hong Tan (Purdue), Blake Hannaford and Ganesh Sankaranarayanan (U. Washington), and Karon MacLean (UBC). Today s Class Questions about Projects Lab 1 due Thursday Lab 2 will likely be assigned this Thursday Tactile Feedback Devices Readings: MacLean, K. E. and Hayward, V Do It Yourself Haptics, Part-II. IEEE Robotics and Automation Magazine, 15(1), p Tactile Feedback (also know as Tactile Display) Distinguish between haptic and tactile feedback Tactile = Cutaneous = Skin Sensation Haptic = Kinesthetic + Some Skin Sensation = Kinesthetic + Tactile Tactile Display (has two meanings) An action (e.g., that type of stimulus can be tactilely displayed using a pin array) A physical device (e.g., please attach your tactile display to that kinesthetic display) Tactile Feedback (also know as Tactile Display) Tactile Displays excite a variety of mechanoreceptors Most common Display types Vibrotactile Pin arrays Vertical Lateral Electrotactile 3 4

2 Electrotactile- Electrostatic TeslaTouch: Electrovibration for Touch Surfaces (Olivier Bau, Ivan Poupyrev, Ali Israr, Chris Harrison) Vibrotactile til + Force Feedback Electrotactile feedback [Kaczmarek, K.A., Nammi, K.K., Agarwal, A.K., Tyler, M.E., Haase, S.J., Beebe, D.J. (2006). Polarity effect in electro-vibration for tactile display.ieee J. Transact. BME, 53:10, pp ] 5 [Kontarinis & Howe 1995] 6 Vibrotactile Feedback Sensory substitution vibrotactile feedback to replace force feedback timate Mean Magnitude Es AM Condition (250Hz) Amplitude (V) timate Mean Magnitude Es FM Condition (2.5V) Frequency (Hz) AM Condition (250Hz) AM-FM Condition (increased range of sensation) [Kontarinis & Howe 1995] 7 [Murray, Klatzky. Khosla,, Psychophysical Characterization and Testbed Validation of a Wearable Vibrotactile Glove for Telemanipulation Presence,12(2) 2003] Amplitude (V) And Frequency Hz) 8

3 RC servo driven RC servo driven [Wagner, et al. 2002] 9 [Wagner, et al. 2002] 10 (Stimulate primarily SA, type II receptors) Electromagnetic Rocker Arm Mechanism bowden wires Linear DC Motors Remote actuator box pull wires actuators [Kammermeier, et al. 2000] 11 [Pawluk, et al. 1998] 12

4 (Stimulate primarily SA, type II receptors) Shape Memory Alloy (SMA) coil springs 8x8 pin array 05Nforce mm pin stroke 0.1 mm stroke accuracy (Stimulate primarily SA, type II receptors) Shape Memory Alloy (SMA) coil springs Compact Braille Display -Moderately compact -High pin density -High power consumption -Low pin force [Fisher 1996] 13 [TiNi Inc.] Top View Bottom View 14 Shape Memory Alloy (SMA) Cantilever beam and SMA pullwire design Telemanipulation with Capacitive Pressure Array and SMA Pin Array [Hasser, et al. 1993] 15 [Kontarinis, et al. 1995] 16

5 Applications for telesurgery Capacitive Pressure Sensor SMA Pin Array Pneumatic Harvard Biorobotics Lab (Pawluk k 9 97) [Wellman, et al. 1997] 17 -Simple mechanical design [Cohn, et al. 1992] ``Tactile Feedback for Teleoperation'' M.B. Cohn, M. Lam, and R.S. Fearing, SPIE Conf. 1833, Telemanipulator Technology, Boston, MA, Nov , Requires air pressure source -Poor control over pin height -Bulky (routing air lines) -Relatively Low B/W Low B/W 18 Pneumatic Piezoelectric 4x6 Pneumatic Array Wax Mold -Simple mechanical design -Conforms to fingertip A Compliant Tactile Display for Teletaction, G. Moy, C. Wagner, and R.S. Fearing, IEEE Int. Conf. on Robotics and Automation, April Requires air pressure source -Bulky (routing air lines) -Relatively Low B/W [Moy, et al. 2000] 19 -High B/W -High pin density -Relatively compact design -Fragile -High voltage source for actuators -Small pin stroke length? [Summers & Chanter 2002] 20

6 on Consumer Products Piezoelectric MEMS electrostatic pin array Electrostatic Annular Air Chamber Electrostatic Annular Air Chamber PIN PIN [Homma, et al. 2004] 21 Top View X-Sectional View -High pin density -Low stroke length of pins -Potential for mass -Low force level production via MEMS/VLSI processing [Fedder & Lopez referenced in Siegel 2002] 22 MEMS electrostatic valve design for Pnematic Refreshable Braille pin array Vacuum/Suction Pin Array Palm and finger scale suction arrays Feels similar to little electrical shocks Suction Pin ArrayTraditional Pin Array Valve X-Sectional View [Yobas, et al. 2002] 23 -Simple mechanical design -Can not display profile shapes Suction Tactile Array for the Palm -Requires a pump for vacuum -Currently has low pin density -Bulky (routing air lines) [Shinoda 2004] 24

7 Electrorheological Tactile Display Tactile feedback via magnet array Magnets glued to skin For sensing finger forces More vibrotactile than pressure sensation [Voyles, et al. 1996] 25 ( ) [Asamura, et al., 1998] 26 Other types Solenoids [Fischer 1995] Lateral Skin Shear Skin shear via piezoelectric actuation Ultrasonic MR 27 [Hayward & Cruz-Hernandez 2000] 28

8 with laterally moving pins, cont. Lateral Skin Shear, Virtual Braille Dots Hayward, et al. (2003-7) Fritschi, et al. (2006) STReSS 2 [Wang, et al. (2006)] K. Kuchenbecker W. Provancher [Virtual Braille Dots, Trans. Applied Perception, Levesque, et al., 2005] 30 Lateral Skin Shear, Virtual Braille Dots Tangent Plane Display = 1/r [Virtual Braille Dots, Trans. Applied Perception, Levesque, et al., 2005] [Dostmohamed & Hayward 2004]

9 Simulating curvature via tangent t plane Slip Displays Hole in outer handle to contact inner rotating mandrel Device Rotation [Dostmohamed & Hayward 2004] 33 Salada, et al. (2002-5) Combined tactile and kinesthetic display Northwestern Haptic Knob. Salada, Lipsey, Colgate (early 2000 s) 34 Variable Friction Shear Display Glassmire thesis (2006) Biet et. al (2008) TPaD: Tactile Pattern Display. Winfield & Colgate (2007) Now also Large Area TPaD K. Kuchenbecker W. Provancher ShiverPaD Concept Alternate motion & change of friction ~.25mm motion currently from voice-coil at Hz TPaD ~2 m at 40 KHz ShiverPaD 2 ±20 m 854 Hz Erik C. Chubb, J. Edward Colgate and Michael A. Pehskin, ShiverPaD: A Glass Haptic Surface That Produces Shear Force on a Bare Finger. Transactions on Haptics, 3(3),

10 Skin Stretch t Feedback Contact Display Prototype combined tactile and kinesthetic display 2-D Contact Display Concept 1-D Contact Display Concept Fingertip Skin Stretch Feedback for Haptic (Directional) Guidance & Sensory Substitution Tactile Direction Cues Thimble Gimbal Push-Pull Pull Wires -Simple mechanical design -Small enough to be glove- based -Renders making/breaking of contact -All objects represented with same contact element -Issue routing push-pull wires Gleeson, Horschel, Provancher (2010) 37 Provancher et. al (2005) 38 Current Hot Areas of Interest of Haptics and Tactile Display Current Challenges of Haptics and dtactile Display Displaying skin shear / skin stretch with variable friction Multi-finger manipulation Simple tactile display for consumer electronics (PDAs, Cell Phones ) Primarily vibrotactile and now electrostatic/electrotactile Fusion of multiple display types (e.g., tactile pin array and shear) Miniaturization i i ti 39 40