Lecture 8: Tactile devices

Transcription

1 ME 327: Design and Control of Haptic Systems Winter 2018 Lecture 8: Tactile devices Allison M. Okamura Stanford University

2 tactile haptic devices

3 tactile feedback goal is to stimulate the skin in a programmable manner to create a desired set of sensations sometimes distributed tactile feedback is provided tactile feedback is generated by a tactile device, sometimes called a tactile display not usually called a tactile interface why not? can aim to recreate real sensations, create novel ones, or communicate information

4 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013

5 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013 Spatial distribution of SAI No temporal information

6 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013 Vibratory information FAI and FAII

7 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013 Mediated by skin of finger pad Skin stretch or adhesion

8 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013 Heat transfer property between texture and finger TRP ion-channels on free nerve endings

9 What does the human hand feel? Psychophysical Dimensions of Tactile Perception of Textures by Okamoto et al., 2013 Tactile cues Contact area between finger pad and object is important

10 Feeling through a tool Rigid link between surface and fingers No spatial cues available Skin deformation from tool, not from surface Vibratory stimuli Warm/cool dimension cannot be conveyed

11 technologies and interaction modes Jerome Pasquero, Survey on Communication through Touch, Technical Report: TR-CIM 06.04, 2006

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15 particle jamming Stanley et al. 2013

16 skin stretch Quek et al. 2013, Schorr et al. 2013

17 variable friction surfaces a b t 0 t 1 t 2 t 3 t Northwestern TPad (many publications): Disney s TeslaTouch (Bau et al. 2011):

18 mid-air haptics Ultrasonic haptics (Ultrahaptics): Vortex haptics (Microsoft):

19 vibration feedback

20 eccentric mass motors K. J. Kuchenbecker

21 shaftless vibration motors K. J. Kuchenbecker

22 vibration motors K. J. Kuchenbecker

23 shaftless vibration motors

24 information display Rotella et al. 2012

25 saltation illusion Geldard and Sherrick 1972

26 Vibration Flow Seo & Choi 2010 Kim et al. 2009

27 linear actuator: C2 Tactor

28 C2 Tactor application Gurari et al. 2009

29 C2 Tactor application Gurari et al. 2009

30 C2 Tactor application tactor mapping tactor waistbelt virtual prosthetic hand envelope frequencies level 1 level 2 level 3 Cheng et al. 2012

31 another vibration actuator (voicecoil) Housing Electromagnetic coil Haptuator, Permanent magnet

32 Voicecoil actuator McMahan and Kuchenbecker 2009

33 Voicecoil actuator application Culbertson et al. 2013

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36 vibrotactile feedback advantages? disadvantages?