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Haptics, IEEE Transactions on

Issue 1 • Date Jan.-Feb. 2011

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Displaying Results 1 - 16 of 16
  • [Front cover]

    Page(s): c1
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  • [Inside front cover]

    Page(s): c2
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  • EIC Editorial

    Page(s): 1
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  • Figure/Ground Segmentation via a Haptic Glance: Attributing Initial Finger Contacts to Objects or Their Supporting Surfaces

    Page(s): 2 - 13
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    The current study addresses the well-known “figure/ground” problem in human perception, a fundamental topic that has received surprisingly little attention from touch scientists to date. Our approach is grounded in, and directly guided by, current knowledge concerning the nature of haptic processing. Given inherent figure/ground ambiguity in natural scenes and limited sensory inputs from first contact (a “haptic glance”), we consider first whether people are even capable of differentiating figure from ground (Experiments 1 and 2). Participants were required to estimate the strength of their subjective impression that they were feeling an object (i.e., figure) as opposed to just the supporting structure (i.e., ground). Second, we propose a tripartite factor classification scheme to further assess the influence of kinetic, geometric (Experiments 1 and 2), and material (Experiment 2) factors on haptic figure/ground segmentation, complemented by more open-ended subjective responses obtained at the end of the experiment. Collectively, the results indicate that under certain conditions it is possible to segment figure from ground via a single haptic glance with a reasonable degree of certainty, and that all three factor classes influence the estimated likelihood that brief, spatially distributed fingertip contacts represent contact with an object and/or its background supporting structure. View full abstract»

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  • Five-Fingered Haptic Interface Robot: HIRO III

    Page(s): 14 - 27
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    This paper presents the design and characteristics of a five-fingered haptic interface robot named HIRO III. The aim of the development of HIRO III is to provide a high-precision three-directional force at the five human fingertips. HIRO III consists of a 15-degrees-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 workspace and can provide multipoint contact between the user and a virtual environment. However, the following problems peculiar to a multi-DOF robot have arisen: a large amount of friction, a backlash, and the presence of many wires for many motors and sensors. To solve these problems, a new mechanism and a wire-saving control system have been designed and developed. Furthermore, several experiments have been carried out to investigate the performance of HIRO III. These results show the high-precision force display and great potential of HIRO III. View full abstract»

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  • Perception and Haptic Rendering of Friction Moments

    Page(s): 28 - 38
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    This paper considers moments due to friction forces on the human fingertip. A computational technique called the friction moment arc method is presented. The method computes the static and/or dynamic friction moment independent of a friction force calculation. In addition, a new finger holder to display friction moment is presented. This device incorporates a small brushless motor and disk, and connects the human's finger to an interface finger of the five-fingered haptic interface robot HIRO II. Subjects' perception of friction moment while wearing the finger holder, as well as perceptions during object manipulation in a virtual reality environment, were evaluated experimentally. View full abstract»

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  • Physics-Based Haptic Simulation of Bone Machining

    Page(s): 39 - 50
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    We present a physics-based training simulator for bone machining. Based on experimental studies, the energy required to remove a unit volume of bone is a constant for every particular bone material. We use this physical principle to obtain the forces required to remove bone material with a milling tool rotating at high speed. The rotating blades of the tool are modeled as a set of small cutting elements. The force of interaction between a cutting element and bone is calculated from the energy required to remove a bone chip with an estimated thickness and known material stiffness. The total force acting on the cutter at a particular instant is obtained by integrating the differential forces over all cutting elements engaged. A voxel representation is used to represent the virtual bone and removed chips for calculating forces of machining. We use voxels that carry bone material properties to represent the volumetric haptic body and to apply underlying physical changes during machining. Experimental results of machining samples of a real bone confirm the force model. A real-time haptic implementation of the method in a dental training simulator is described. View full abstract»

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  • The Role of Haptics in Medical Training Simulators: A Survey of the State of the Art

    Page(s): 51 - 66
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    This review paper discusses the role of haptics within virtual medical training applications, particularly, where it can be used to aid a practitioner to learn and practice a task. The review summarizes aspects to be considered in the deployment of haptics technologies in medical training. First, both force/torque and tactile feedback hardware solutions that are currently produced commercially and in academia are reviewed, followed by the available haptics-related software and then an in-depth analysis of medical training simulations that include haptic feedback. The review is summarized with scrutiny of emerging technologies and discusses future directions in the field. View full abstract»

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  • Haptic Recognition of Emotions in Raised-Line Drawings by Congenitally Blind and Sighted Adults

    Page(s): 67 - 71
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    15 sighted and 15 congenitally blind adults were to classify raised-line pictures of emotional faces through haptics. Whereas accuracy did not vary significantly between the two groups, the blind adults were faster at the task. These results suggest that raised-line pictures of emotional faces are intelligible to blind adults. View full abstract»

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  • 2010 Reviewers List

    Page(s): 72 - 73
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  • IEEE Transactions on Haptics Call for Papers Special Issue on Haptic Human-Robot Interaction

    Page(s): 74
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  • 2010 Annual Index

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  • Stay Connected with the IEEE Computer Society [advertisement]

    Page(s): 75
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  • CPS Handles the Details for you [advertisement]

    Page(s): 76
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  • ToH Information for authors

    Page(s): c3
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  • [Back cover]

    Page(s): c4
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Aims & Scope

IEEE Transactions on Haptics addresses the science, technology and applications associated with information acquisition and object manipulation through touch.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Lynette Jones
Dept. of Mechanical Engineering
Massachusetts Institute of Technology
77 Massachusetts Ave.
Cambridge, MA 02139
USA
Phone: 617-253-3973
Fax: 617-253-2218
Email: ljones@mit.edu
Website: http://meche.mit.edu/people/index.html?id=128

Associate Editor-in-Chief
Cagatay Basdogan
Koc University
College of Engineering
Istanbul, 34450 Turkey
Phone: 902123381721