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EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date 18-20 March 2009

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Displaying Results 1 - 25 of 133
  • Message from the Conference Editorial Board

    Publication Year: 2009, Page(s): i
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  • Message from the chairs

    Publication Year: 2009, Page(s): ii
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  • Committee

    Publication Year: 2009, Page(s):iii - vi
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  • Message from the Chair of EuroHaptics

    Publication Year: 2009, Page(s): vii
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  • Message from the General Chair

    Publication Year: 2009, Page(s): viii
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  • Technical Committee

    Publication Year: 2009, Page(s): ix
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  • Table of contents

    Publication Year: 2009, Page(s):x - xxi
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  • Control of an actuated car door providing outstanding haptic interaction

    Publication Year: 2009, Page(s):314 - 319
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (317 KB) | HTML iconHTML

    Actuated car doors are a promising way to increase the convenience of access to cars. In this paper, an advanced door concept which can easily be integrated into conventional car doors is presented. Using a linear, non-backdrivable actuator and various sensors, both automatic and manual door operations can be realized. The principal part is the realization of a high-quality haptic interaction of t... View full abstract»

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  • The role of item fixation in haptic search

    Publication Year: 2009, Page(s):417 - 421
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (731 KB) | HTML iconHTML

    Enclosing objects in the hand is a common and efficient way of haptic exploration. Recently, the importance of grasping for more realistic haptic perception of virtual objects has been recognised in haptic interface design. While several studies on haptic perception have addressed haptic exploration of a single object, perception of several objects grasped together in the hand has received almost ... View full abstract»

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  • Remote dynamic proxies for wave-based peer-to-peer haptic interaction

    Publication Year: 2009, Page(s):553 - 558
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (751 KB) | HTML iconHTML

    This paper introduces a distributed haptic control architecture that can render direct interaction between users in addition to cooperative manipulation of virtual objects. The proposed architecture integrates remote dynamic proxies and peer-to-peer wave-based communications. Remote dynamic proxies are avatars of users at peer sites with motion governed by second order dynamics laws. They render p... View full abstract»

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  • Haptic stiffness identification by veterinarians and novices: A comparison

    Publication Year: 2009, Page(s):646 - 651
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (567 KB) | HTML iconHTML

    Palpation is important in both veterinary and medical health professions. It is however difficult to learn, teach and assess. More must be understood about the skills involved in palpation. The present study compares the ability of practicing veterinarians and veterinary students to identify stiffness values. An absolute identification paradigm was used where a force-feedback device rendered virtu... View full abstract»

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  • Maneuverability of master control devices considering the musculo-skeletal model of an operator

    Publication Year: 2009, Page(s):57 - 62
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1172 KB) | HTML iconHTML

    In this paper, maneuverability measure of master control devices considering the musculo-skeletal model of operators is proposed. The original maneuverability measure of master arms considering the operator dynamics is extended by introducing a muscle tension space instead of the joint torque space of an operator so that the maneuverability is evaluated under a constant muscle stress condition whi... View full abstract»

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  • Development of tremor-suppression filter for meal-assist robot

    Publication Year: 2009, Page(s):238 - 243
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1127 KB) | HTML iconHTML

    A robot that supports independent living by assisting with eating and other activities involving the use of the hand using the operator's own hand would be helpful for people suffering from tremors of the hand or any other body part. In this study, the proposed adaptive filter estimates tremor frequency with a time-varying property and individual differences online, and insulates the voluntary mot... View full abstract»

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  • Position and force augmentation in a telepresence system and their effects on perceived realism

    Publication Year: 2009, Page(s):226 - 231
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (304 KB) | HTML iconHTML

    Haptic assistance functions for a telepresence system are presented and assessed. These assistance functions are based on the augmentation of exchanged position and force data, and they are intended to increase the transparency of the telepresence system while maintaining stability. We present the concept and implementation of different assistance functions. Furthermore, we show the setup and resu... View full abstract»

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  • Communication of direction through lateral skin stretch at the fingertip

    Publication Year: 2009, Page(s):172 - 177
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1534 KB) | HTML iconHTML

    A variety of tasks could benefit from the availability of direction cues that do not rely on vision or sound. Skin stretch has been found to be a reliable means of communicating direction and has potential to be rendered by a compact device. We have conducted experiments exploring the use of lateral skin stretch at the fingertip to communicate direction. A small rubber cylinder was pressed against... View full abstract»

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  • Performance improvement with haptic assistance: A quantitative assessment

    Publication Year: 2009, Page(s):511 - 516
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (451 KB) | HTML iconHTML

    We measure the performance improvement that force feedback can provide in a virtual environment, through three experiments with, and without the assistance of haptic guidance. Performance measurements were undertaken with haptic, visual and auditory feedback alternatives. The first task investigated the use of haptic guidance mimicking reality, in the form of a simulated touchable surface of an ob... View full abstract»

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  • Inverse piano technique for studying finger interaction during pressing tasks

    Publication Year: 2009, Page(s):395 - 396
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (267 KB) | HTML iconHTML

    When a person moves or presses with an individual finger other fingers also produce a force (Kilbreath and Gandevia 1994; Li et al. 2004; Zatsiorsky et al. 2000). Several factors are known to contribute to this response: (1) peripheral mechanical coupling, (2) multi-digit motor units, and (3) diverging central commands. This phenomenon, known as enslaving, has traditionally been studied in isometr... View full abstract»

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  • Compact MR-brake with serpentine flux path for haptics applications

    Publication Year: 2009, Page(s):91 - 96
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (646 KB) | HTML iconHTML

    This research explores a new approach to shape the magnetic flux path in a MR brake. Magnetically conductive and non-conductive elements were stacked to weave the magnetic flux through the rotor and the outer shell of the brake. This approach enabled design of a more compact and powerful MR brake. In addition, a ferro-fluidic sealing technique was developed to prevent the fluid from leaking and to... View full abstract»

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  • An energy bounding approach for directional transparency in multiple degree-of-freedom haptic interaction

    Publication Year: 2009, Page(s):320 - 325
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1391 KB) | HTML iconHTML

    This paper presents an energy bounding approach (EBA) to enhance directional transparency while guaranteeing stability for multiple degree-of-freedom (DOF) haptic interaction. It was observed that the passivity condition for multiple ports may lead to some oscillations in some coordinate directions even though total energy is positive. The passivity condition, therefore, needs to be applied to eac... View full abstract»

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  • Discrimination of thermal diffusivity

    Publication Year: 2009, Page(s):635 - 639
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (530 KB) | HTML iconHTML

    Materials such as wood or metal which are at equal temperatures are perceived to be of different ldquocoldnessrdquo due to differences in thermal properties, such as the thermal diffusivity. The thermal diffusivity of a material is a parameter that controls the rate with which heat is extracted from the hand when it touches an object of that material. This rate of heat extraction is an important c... View full abstract»

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  • Method for presenting virtual objects to multiple fingers on two-hands using multiple single-point haptic devices

    Publication Year: 2009, Page(s):244 - 249
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (752 KB) | HTML iconHTML

    In this paper, we discuss a method for presenting virtual objects to multiple fingers on both hands using multiple single-point haptic devices operating over a network. We evaluated the effect of the number of fingers used on ability to recognize shapes using this system. The experimental results suggest that the number of contact points do not sufficiently improve the ability to recognize shapes,... View full abstract»

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  • Perceptual coding of haptic data in time-delayed teleoperation

    Publication Year: 2009, Page(s):208 - 213
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (375 KB) | HTML iconHTML

    In telepresence and teleaction systems the haptic communication channel plays a central role. As it closes a global control loop any introduced communication delay possibly destabilizes the system and impairs the performance. The scattering theory is known to solve these stability issues by transmitting wave variables instead of haptic signals, i.e. force and velocity, over the communication chann... View full abstract»

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  • Five-fingered haptic interface robot: HIRO III

    Publication Year: 2009, Page(s):458 - 463
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1929 KB) | HTML iconHTML

    This paper presents the design and characteristics of a five-fingered haptic interface robot: HIRO III. The aim of the paper is to provide a high-precision force representation at the five human fingertips. HIRO III consists of a 15-degree-of-freedom (DOF) haptic hand, a 6 DOF interface arm and a control system. The haptic interface, which consists of a robot arm and hand, can be used in a large w... View full abstract»

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  • Haptic rendering of complex deformations through handle-space force linearization

    Publication Year: 2009, Page(s):422 - 427
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB) | HTML iconHTML

    The force-update-rate requirements of transparent rendering of virtual environments are in conflict with the computational cost required for computing complex interactions between deforming objects. In this paper we introduce a novel method for satisfying high force update rates with deformable objects, yet retaining the visual quality of complex deformations and interactions. The objects that are... View full abstract»

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  • Computationally efficient techniques for data-driven haptic rendering

    Publication Year: 2009, Page(s):39 - 44
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (993 KB) | HTML iconHTML

    Data-driven haptic rendering requires processing of raw recorded signals, which leads to high computational effort for large datasets. To achieve real-time performance, one possibility is to reduce the parameter space of the employed interpolation technique, which generally decreases the accuracy in the rendering. In this paper, we propose a method for guiding this parameter reduction to maintain ... View full abstract»

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