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Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings. 12th International Symposium on

27-28 March 2004

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  • Proceedings. 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

    Publication Year: 2004
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    Publication Year: 2004, Page(s): 0_2
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  • Proceedings 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems [Title page]

    Publication Year: 2004, Page(s): 0_3
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  • [Copyright notice]

    Publication Year: 2004, Page(s): 0_4
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  • Proceedings 12 th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems [covers]

    Publication Year: 2004, Page(s): 0_5
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  • Proceedings 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems Table of contents

    Publication Year: 2004, Page(s):0_6 - 0_9
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  • Preface

    Publication Year: 2004, Page(s): 0_10
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  • Haptic rendering of rigid body collisions

    Publication Year: 2004, Page(s):2 - 8
    Cited by:  Papers (5)  |  Patents (3)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1551 KB) | HTML iconHTML

    This paper addresses the haptic rendering of rigid body collisions. A new method is proposed in which collision rendering is achieved in two steps. First, the haptic simulation uses a contact model whose stiffness is infinite during collisions and finite during sustained contact. This model is combined with a passive collision resolution scheme to compute collision impulses when new contacts arise... View full abstract»

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  • Simulating human fingers: a soft finger proxy model and algorithm

    Publication Year: 2004, Page(s):9 - 17
    Cited by:  Papers (32)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1762 KB) | HTML iconHTML

    This paper presents models and algorithms that can be used to simulate contact between one or more fingertips and a virtual object. First, the paper presents various models for rotational friction obtained from in-vivo fingertip models previously proposed in the robotics and biomechanics community. Then the paper describes two sets of experiments that were performed on in-vivo fingertips in order ... View full abstract»

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  • Accelerated haptic rendering of polygonal models through local descent

    Publication Year: 2004, Page(s):18 - 23
    Cited by:  Papers (11)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1463 KB) | HTML iconHTML

    In a prior paper, we described a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. In that paper, global search for local minimum distances provided repulsive forces between models. This paper augments that system with a local tracking algorithm that quickly updates and maintains globally computed minima. The global search continuously adds a... View full abstract»

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  • Toward event-based haptics: rendering contact using open-loop force pulses

    Publication Year: 2004, Page(s):24 - 31
    Cited by:  Papers (25)  |  Patents (3)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1517 KB) | HTML iconHTML

    An event-based method is proposed to improve realism in haptic displays. Many interesting interactions, for example tapping on a stiff environment, are characterized by ringing and high-frequency force signals. Traditional closed loop controllers, however, do not generate much information between 300 Hz and 1 kHz, to which human users are very sensitive. We propose brief open-loop playback at thes... View full abstract»

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  • Compliant background subtraction algorithms for tactile rendering

    Publication Year: 2004, Page(s):32 - 39
    Cited by:  Papers (2)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1388 KB) | HTML iconHTML

    Relaying spatially distributed forces promises to enhance the performance of telemanipulation systems. However, the proper way to render tactile information from the sensor to the display is not clear for current displays, where the user maintains constant contact. We present a simple approach to rendering tactile information to improve performance in a lump localization task in a compliant object... View full abstract»

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  • Haptic display of contact location

    Publication Year: 2004, Page(s):40 - 47
    Cited by:  Papers (14)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1700 KB) | HTML iconHTML

    This work presents a new haptic device that integrates contact location feedback with grounded point-force display. The system consists of a thimble-based mechanism attached to the endpoint of a Phantom/spl reg/ robotic arm. Contact location is rendered using a small tactile element that moves along the length of the user's fingerpad. The Phantom/spl reg/ robot applies reaction forces to the user'... View full abstract»

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  • VisPad: a novel device for vibrotactile force feedback

    Publication Year: 2004, Page(s):50 - 57
    Cited by:  Papers (3)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1454 KB) | HTML iconHTML

    VisPad is a new haptics design for visualizing data, constructed from commodity massage chair pads with custom controllers and interfaces to a computer. It is an output device for information transmitted to a user who sits on the pad. The user interface is unique in that it has a large feedback area and is passive in nature, where unlike most current haptics devices, the user's hands are free to w... View full abstract»

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  • VISHARD10, a novel hyper-redundant haptic interface

    Publication Year: 2004, Page(s):58 - 65
    Cited by:  Papers (34)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1577 KB) | HTML iconHTML

    This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allow:; a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for... View full abstract»

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  • Designing an encountered-type haptic display for multiple fingertip contacts based on the observation of human grasping behavior

    Publication Year: 2004, Page(s):66 - 73
    Cited by:  Papers (6)  |  Patents (1)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (4381 KB) | HTML iconHTML

    Unlike conventional haptic devices, an encountered-type device is not held by a user all the time. Instead, the device stays at the location of a virtual object and waits for the user to encounter it. In this paper, we extend this concept to fingertip contacts and design an encountered-type haptic display for multiple fingertip contacts to simulate tasks of grasping an object with any shape and si... View full abstract»

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  • Low cost actuator and sensor for high-fidelity haptic interfaces

    Publication Year: 2004, Page(s):74 - 81
    Cited by:  Papers (7)  |  Patents (3)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (6196 KB) | HTML iconHTML

    This paper describes a novel motor and encoder concept that is designed to reduce cost. The new design uses a low-cost stepper motor and a low-resolution optical encoder, together with high speed digital signal processing to achieve high torque levels with low ripple, as well as accurate position and velocity sensing. While more involved electronics and signal processing are required, the cost of ... View full abstract»

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  • Development of a tactile vest

    Publication Year: 2004, Page(s):82 - 89
    Cited by:  Papers (33)  |  Patents (40)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1746 KB)

    This research is focused on the development of a torso-based haptic display that can be used to present navigational cues to a human operator. The requirements for this display are that it can be worn on a mobile operator, is light weight and robust. Two tactile vests are being developed to meet these objectives, one based on small electric motors and the other on contractile shape-memory alloy (S... View full abstract»

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  • Multi primitive tactile display based on suction pressure control

    Publication Year: 2004, Page(s):90 - 96
    Cited by:  Papers (10)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1997 KB)

    In this paper we propose a new method for displaying touch sensation by controlling suction pressure. We discovered a tactile illusion that pulling skin through a hole with suction pressure causes a feeling as if a stick is pushing the skin. This illusion is considered to be caused by the insensitivity of our mechanoreceptors to signs of stress (negative or positive) that are sensitive to the stra... View full abstract»

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  • Product prototyping and manufacturing planning with 5-DOF haptic sculpting and dexel volume updating

    Publication Year: 2004, Page(s):98 - 105
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (2080 KB)

    This paper presents an analytical methodology for virtual sculpting of complex surfaces with a developed 5-DOF (degree of freedom) force-torque haptic interface. In the proposed methodology, 5-axis tool motion and analytical tool swept volume are formulated for updating the virtual stock material, which is represented with dexel volume model. Based on the tool motion analysis, a dexel-based collis... View full abstract»

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  • Group synchronization control for haptic media in networked virtual environments

    Publication Year: 2004, Page(s):106 - 113
    Cited by:  Papers (26)  |  Patents (1)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1477 KB)

    This paper proposes a group (or inter-destination) synchronization control scheme for haptic media in networked virtual environments where multiple users manipulate CG objects collaboratively in a 3-D virtual space by using force feedback devices. For group synchronization of haptic media, we enhance the synchronization maestro scheme, which the authors previously proposed for voice and video, so ... View full abstract»

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  • Cooperative manipulation between humans and teleoperated agents

    Publication Year: 2004, Page(s):114 - 120
    Cited by:  Papers (6)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (2436 KB)

    Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with DARPA. This paper describes the implementation of haptic feedback into Robonaut. We conducted a cooperative manipulation task, inserting a flexible beam into an instrumented receptacle. This task was performed while both a human at the worksite and the teleop... View full abstract»

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  • Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback

    Publication Year: 2004, Page(s):121 - 127
    Cited by:  Papers (19)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1464 KB)

    For practical application of force feedback in robot-assisted surgical systems, it may not be possible to match the number of degrees of freedom of position sensing and control with the degrees of freedom of force sensing and feedback. The goal of this experimental study is to determine the effect of such sensor/actuator asymmetry during bilateral telemanipulation. We examined the performance of t... View full abstract»

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  • Physics-based burr haptic simulation: tuning and evaluation

    Publication Year: 2004, Page(s):128 - 135
    Cited by:  Papers (7)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1536 KB)

    In this paper we provide a preliminary report on our work on the tuning of a temporal bone surgical simulator using parameter values derived from experimental measurements, and on the comparison between these results and the previously used "domain expert" assigned values. Our preliminary results indicate that the parameter values defined by the domain-experts are consistent with the experimentall... View full abstract»

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  • A perceptual study on haptic rendering of surface topography when both surface height and stiffness vary

    Publication Year: 2004, Page(s):138 - 145
    Cited by:  Papers (5)
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1600 KB)

    This study is concerned with the distorted perception of surface topography when both surface height and surface stiffness vary. Three psychophysical experiments were conducted using virtual surfaces rendered with a force-feedback device. In Exp. 1, we found that the threshold for detecting a height difference between two adjacent planes was quite small (0.17-0.63 mm) and decreased as surface stif... View full abstract»

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