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EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint

Date 22-24 March 2007

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Displaying Results 1 - 25 of 127
  • Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - Cover

    Publication Year: 2007 , Page(s): c1
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  • Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - Title

    Publication Year: 2007 , Page(s): i - iii
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  • Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - Copyright

    Publication Year: 2007 , Page(s): iv
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  • Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems - Table of contents

    Publication Year: 2007 , Page(s): v - xiii
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  • Message from the General Chair

    Publication Year: 2007 , Page(s): xiv
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  • Committees

    Publication Year: 2007 , Page(s): xv
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  • Program Committee

    Publication Year: 2007 , Page(s): xvi
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  • list-reviewer

    Publication Year: 2007 , Page(s): xvii
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  • Message from the IEEE Haptics Technical Committee and Task Force

    Publication Year: 2007 , Page(s): xviii
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  • Message from the EuroHaptics Society

    Publication Year: 2007 , Page(s): xx
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  • A Behavioral Adaptation Approach to Identifying Visual Dependence of Haptic Perception

    Publication Year: 2007 , Page(s): 3 - 8
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (368 KB) |  | HTML iconHTML  

    Both haptic and visual senses play a role in how we explore our environment. Previous studies have shown that vision plays a very strong role in perception of object stiffness, yet quantification of the contributions of both haptic and visual feedback remains elusive. This study uses a behavioral adaptation approach in order to better understand how humans perceive stiffness. Namely, subjects make targeted reaches across a virtual surface of varying stiffness, adapting to the new environment. The hand's cursor position is visually distorted to seem more stiff for one group, less stiff for another, and no distortion for the control group. Area reaching deviation (ARD) and post-adaptation interface forces, used in previous studies, were the two outcome measures used to determine differences between groups. We compare the slopes of the post-adaptation force-stiffness relations to quantify the effect of visual distortion. Our results indicate that making a stiff surface look more compliant has a greater effect on humans than making a compliant surface look more stiff View full abstract»

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  • JND Analysis of Texture Roughness Perception using a Magnetic Levitation Haptic Device

    Publication Year: 2007 , Page(s): 9 - 14
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (457 KB) |  | HTML iconHTML  

    This paper describes the use of a magnetic levitation haptic device (MLHD) to study the psychophysics of texture roughness. Studies of texture roughness perception performed using real textures can be time consuming and expensive. By using a MLHD to simulate texture we are able to quickly and easily adjust texture parameters. A dithered textured surface composed of conical elements is simulated using a constraint surface algorithm. The constraint surface shape is defined by the geometry of the elements as well as the size and shape of the virtual probe. The spacing of the elements and the size of the probe can be varied continuously and in real time. Just noticeable difference (JND) experiments were conducted over the parameters of probe radius and texture spacing. The JND of roughness was determined with respect to element spacing using unforced weighted up-down adaptive threshold estimation. JND's were found to vary for texture spacing and probe size. JND's for constant probe size decreased with increasing texture spacing to a minimum and then increased again. JND's for constant spacing increased as probe size increased. These results are consistent with a geometric model of probe-texture interaction View full abstract»

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  • The Gestalt Principle of Continuation Applies to both the Haptic and Visual Grouping of Elements

    Publication Year: 2007 , Page(s): 15 - 20
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (331 KB) |  | HTML iconHTML  

    The multi-sensory display of abstract data is a new and emerging area of study in the area of computer interfaces. Unfortunately the design of multi-sensory displays is complex and it is necessary to carefully consider the perceptual capabilities of humans. Therefore we aim to both collect useful guidelines that help designers of multi-sensory displays and to structure these guidelines by using appropriate high-level principles. Gestalt principles suggest themselves as one possible framework for structuring multi-sensory design guidelines. Gestalt theory explains how humans organise individual elements into groups and how humans perceive and recognise patterns. Unfortunately very little work has been done in evaluating how well these principles apply to the haptic sense. This paper focuses on how individuals use the sense of haptic (touch) to group display elements using the gestalt principle of continuation. The hypothesis of the experiment is that people used their haptic perceptions to group display elements in the same way they group elements visually. Overall we find this hypothesis to be true and that a significant number of subjects group haptic elements so that they can be interpreted as continuous lines and forms. This supports our hypothesis that the gestalt principle of continuation is applicable for both visual and haptic grouping and therefore provides a useful principle for structuring multi-sensory design guidelines View full abstract»

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  • Haptic Feedback Enhances Force Skill Learning

    Publication Year: 2007 , Page(s): 21 - 26
    Cited by:  Papers (34)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (297 KB) |  | HTML iconHTML  

    This paper explores the use of haptic feedback to teach an abstract motor skill that requires recalling a sequence of forces. Participants are guided along a trajectory and are asked to learn a sequence of one-dimensional forces via three paradigms: haptic training, visual training, or combined visuohaptic training. The extent of learning is measured by accuracy of force recall. We find that recall following visuohaptic training is significantly more accurate than recall following visual or haptic training alone, although haptic training alone is inferior to visual training alone. This suggests that in conjunction with visual feedback, haptic training may be an effective tool for teaching sensorimotor skills that have a force-sensitive component to them, such as surgery. We also present a dynamic programming paradigm to align and compare spatiotemporal haptic trajectories View full abstract»

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  • Frequency Analysis of the Detectability of Virtual Haptic Gratings

    Publication Year: 2007 , Page(s): 27 - 32
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (317 KB) |  | HTML iconHTML  

    The tactile detectability of sinusoidal and square-wave virtual texture gratings were measured and analyzed. Using a three-interval one-up three-down adaptive tracking procedure, detection thresholds for virtual gratings were estimated using a custom-designed high position-resolution 3-degrees-of-freedom force-feedback haptic device. Two types of gratings were used, defined by sinusoidal and square waveforms, with spatial wavelengths of 0.2 to 25.6 mm. The results indicated that the participants demonstrated a higher sensitivity (i.e., lower detection threshold) to square-wave gratings than to sinusoidal ones at all the wavelengths tested. When the square-wave gratings were represented by the explicative Fourier series, it became apparent that the detectability of the square-wave gratings could be determined by that of the sinusoidal gratings at the corresponding fundamental frequencies. This was true for any square-wave grating as long as the detection threshold for the fundamental component was below those of the harmonic components View full abstract»

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  • On the Influence of Arm Inertia and Configuration on Motion Planning of Reaching Movements in Haptic Environments

    Publication Year: 2007 , Page(s): 33 - 38
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (466 KB) |  | HTML iconHTML  

    The paper presents an analysis of human reaching movements in the manipulation of flexible objects. Two models, the minimum hand jerk and the minimum driving hand force-change, are used for modeling and verification of experimental data. The data are collected with the haptic system supporting dynamic simulation of the flexible object in real time. We describe some initial experimental results and analyze the applicability of the models. It is found that even for short-term movements human motion planning strategy can depend on arm mass and configuration. This conclusion is based on the experimental evidence of the multi-phased hand velocity profiles that can be well captured by the minimum driving hand force-change criterion View full abstract»

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  • Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport

    Publication Year: 2007 , Page(s): 39 - 43
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (541 KB) |  | HTML iconHTML  

    During object manipulation, the hand and arm muscles produce internal forces on the object (grasping forces) and forces that result in external translation or rotation of the object in space (transport forces). The present study tested whether the intrinsic hand muscles are actively involved in transport as well as grasping. Intrinsic hand muscle activity increased with increasing demands for grasp stability, but also showed the timing and directional tuning patterns appropriate for actively transmitting external forces to the object, during the translational acceleration and deceleration of object transport View full abstract»

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  • Vibration Enhances Geometry Perception with Tactile Shape Displays

    Publication Year: 2007 , Page(s): 44 - 49
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (313 KB) |  | HTML iconHTML  

    Tactile displays can provide detailed spatial information to the skin, but little is known about the effects of vibrating displayed shapes. This study examines passive touch perception of flat and indented surfaces displayed on a 36 pin tactile display with 2 mm pin pitch. Subjects could not perceive a 0.1 mm deep central indentation when it was presented statically, but it was readily detected when the pattern was vibrated at 5 Hz. A central raised bar was incorrectly perceived as indented when the adjacent pins were vibrated, which is consistent with the "fishbone tactile illusion" (Nakatani et al., Proc. EuroHaptics 2006). These results suggest that tactile display devices can use vibrational stimulus to enhance perception of small differences in height View full abstract»

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  • Frequency dependence of perceived intensity of steering wheel vibration: effect of grip force

    Publication Year: 2007 , Page(s): 50 - 55
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (390 KB) |  | HTML iconHTML  

    Vehicle drivers receive haptic feedback in response to their movement of the steering wheel and tactile feedback from various sources of vibration of the steering wheel, with the sensations varying depending on the frequency and the magnitude of the movements. From an experiment with 12 subjects, equivalent comfort contours were determined for vertical vibration of the hands with three grip forces. The perceived intensity of vibration on a rigid steering wheel was determined using the method of magnitude estimation at seven frequencies (4 to 250 Hz) over a range of vibration magnitudes (0.1 to 1.58 ms- 2 r.m.s). The comfort contours strongly depended on vibration magnitude, indicating that a frequency weighting for predicting sensation should be dependent on vibration magnitude. At low magnitudes, increased grip force increased sensitivity at high frequencies and enhanced the frequency-dependence of the equivalent comfort contours. The results may be explained by the characteristics of the Pacinian and non-Pacinian tactile channels in the glabrous skin of the hand View full abstract»

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  • Mechanical Impedance of the Hand Holding a Spherical Tool at Threshold and Suprathreshold Stimulation Levels

    Publication Year: 2007 , Page(s): 56 - 60
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (432 KB) |  | HTML iconHTML  

    We report mechanical impedance of the hand for sinusoidal stimulation at the threshold and suprathreshold levels in the frequency range of 10-500 Hz delivered through a ball-shaped interface. The participants held the ball mounted on a minishaker in a way similar to that of holding a ball interface of a force-feedback device. A minishaker excited the ball in the vertical direction, resulting in vibrations on the skin of the hand in mostly the tangential direction. The position detection threshold curve was similar to that measured earlier using a stylus in the pen-hold posture, but the force detection threshold curve and the mechanical impedance was shifted upwards in the high frequency region. The mechanical impedance at the threshold and suprathreshold levels were essentially the same, indicating that skin characteristics do not change in the dynamic range of tactual perception for the same tool-holding posture View full abstract»

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  • An Experimentally Verified Model of the Perceived 'Coldness' of Objects

    Publication Year: 2007 , Page(s): 61 - 65
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (189 KB) |  | HTML iconHTML  

    In this paper, a numerical model of the thermal process of touching an object is described. The model takes into account the object geometry and temperature, the thermal parameters of the material and the contact resistance between finger and object. Based on the heat extraction rate, this model predicts which materials will feel warm or cold to the touch. The model is empirically verified with psychophysical experiments. In a temperature-controlled box, subjects had to discriminate between stimuli of different materials and geometries based on thermal cues. The results are in line with the idea that the perceived 'coldness' of materials is determined by the initial heat transfer rate, as predicted by the model View full abstract»

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  • Texture Gradients and Perceptual Constancy under Haptic Exploration

    Publication Year: 2007 , Page(s): 66 - 71
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (431 KB) |  | HTML iconHTML  

    Participants perceive a distal surface texture to be of a certain roughness despite being explored in different ways: by active or passive touch or at different speeds. Understanding the basis and extent of this roughness constancy is an important theoretical goal. The literature suggests that it may stem from how one class of cutaneous afferents codes texture element spacings. In different experiments using raised dot surfaces, we investigated participants' abilities to discriminate spatial density gradients of different directions and magnitudes. This was done under conditions where fingers changed and where performance over extended practice could be observed. The data confirm that perceptual constancy is a feature of haptic texture perception but we identify a subtle bias in perception and we find evidence that practice, even without feedback as to accuracy, can enable even subtle spatial changes to be perceived. We consider these data in terms of models of haptic texture perception and perceptual learning View full abstract»

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  • A Visuo-Haptic Device - Telemaque - Increases Kindergarten Children's Handwriting Acquisition

    Publication Year: 2007 , Page(s): 72 - 77
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (721 KB) |  | HTML iconHTML  

    The objective of the present research was to show that incorporating a visuo-haptic device 'Telemaque' may increase the fluency of handwriting production of cursive letters in kindergarten children i.e., before formal handwriting learning begins. Forty two 5 year-old children were assigned an intervention involving either Telemaque (experimental training; VH group) or not (control training; C group). The fluency of handwriting was tested before and after both interventions. Fluency was analysed by kinematic parameters: average velocity, number of velocity peaks, and number of breaks during the production of six cursive letters (a,b,f,i,l,s). The results showed that the fluency of handwriting production for all letters was higher after the VH training than after the C training: The movements were faster, exhibited less velocity peaks and children lifted the pen less often during the letter production. These results showed that the Telemaque device may help kindergarten children to increase the proactive strategy to control handwriting movements View full abstract»

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  • Evaluation of Human Performance with Kinematic and Haptic Errors

    Publication Year: 2007 , Page(s): 78 - 83
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (361 KB) |  | HTML iconHTML  

    In teleoperation systems, link flexion results in kinematic errors, such that the position mapping between the master motion and slave motion is not correct. For haptic feedback teleoperators, this also causes errors in the direction of force feedback to the operator. This study examines human ability to compensate for rotational kinematic/haptic errors, where the mapping between master and slave kinematics and haptics has an error of 5 degrees. Using a 2-degree-of-freedom haptic system, with a virtual environment representing the slave robot and environment, subjects performed object tracing tasks on either a square or a circle with various combinations of correct and incorrect kinematics, and correct, incorrect, and absent haptic feedback. A point-to-point targeting task was performed between each tracing task to minimize the possibility of aftereffects. The results showed no significance for using different object shapes for the tracing task or for having haptic feedback in the targeting task. Incorrect haptic feedback proved to be comparable to having correct haptic feedback under our experimental conditions View full abstract»

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  • Haptizing a Surface Height Change with Varying Stiffness Based on Force Constancy: Effect of Surface Normal Render

    Publication Year: 2007 , Page(s): 84 - 89
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (266 KB) |  | HTML iconHTML  

    This work has been motivated by our prior efforts for perceptualizing the scientific data sets of surface topography and stiffness distribution measured with a scanning probe microscope. Previously, we showed that the surface topography information with varying stiffness rendered with the conventional penalty-based method can be distorted (Choi et al., 2005), and developed a topography compensation algorithm based on the theory of force constancy in order to resolve the problem (Cheon and Choi, 2006). The theory of force constancy states that the user maintains an invariant contact force level when s/he strokes a surface to perceive its topography. As a follow-up study, this paper investigates the benefits of including surface normal rendering in the haptization of a surface height change with varying stiffness, through a simulation and a psychophysical experiment. Adequate surface normal rendering creates lateral force cues when a haptic interface tool crosses a height change interval. The results indicated that surface normal rendering facilitates correct perception of surface height changes, in particular, for very low height changes View full abstract»

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