A High Performance Tactile Feedback Display and Its Integration in Teleoperation.
Identifieur interne : 004074 ( Ncbi/Curation ); précédent : 004073; suivant : 004075A High Performance Tactile Feedback Display and Its Integration in Teleoperation.
Auteurs : I. Sarakoglou ; N. Garcia-Hernandez ; N G Tsagarakis ; D G CaldwellSource :
- IEEE transactions on haptics [ 1939-1412 ] ; 2012.
Abstract
This paper presents the development of a compact tactile display and its integration in teleoperation. The system's operation is based on the display of surface shape to an area of the fingertip through a 4 × 4 array of tactors moving perpendicularly to the skin surface. The tactors are spring loaded and are actuated remotely by dc motors through a flexible tendon transmission. This novel implementation of conventional actuation principles achieves a compact design with superior performance compared to devices of a similar footprint, demonstrating an excellent combination of tactor spatiotemporal resolution, force, and amplitude. The display's ergonomic design and high performance make it suitable for integration on haptic devices for tactile feedback in VR and in Teleoperation. This paper presents the design, control, and performance of the tactile display and of the transmission system. It also demonstrates its integration on an Omega7 force feedback device for the teleoperation of an LWR KUKA manipulator. An experiment is presented where users teleoperated the stylus of the robot in a 3D contour following task with and without tactile feedback. In this experiment, force feedback from the slave is fused with model-based local tactile feedback. Subjects' performances indicate an improvement in teleoperation when both tactile and force feedback are present.
DOI: 10.1109/TOH.2012.20
PubMed: 26964111
Links toward previous steps (curation, corpus...)
- to stream PubMed, to step Corpus: Pour aller vers cette notice dans l'étape Curation :000D40
- to stream PubMed, to step Curation: Pour aller vers cette notice dans l'étape Curation :000D40
- to stream PubMed, to step Checkpoint: Pour aller vers cette notice dans l'étape Curation :000C10
- to stream Ncbi, to step Merge: Pour aller vers cette notice dans l'étape Curation :004074
Links to Exploration step
pubmed:26964111Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A High Performance Tactile Feedback Display and Its Integration in Teleoperation.</title>
<author><name sortKey="Sarakoglou, I" sort="Sarakoglou, I" uniqKey="Sarakoglou I" first="I" last="Sarakoglou">I. Sarakoglou</name>
</author>
<author><name sortKey="Garcia Hernandez, N" sort="Garcia Hernandez, N" uniqKey="Garcia Hernandez N" first="N" last="Garcia-Hernandez">N. Garcia-Hernandez</name>
</author>
<author><name sortKey="Tsagarakis, N G" sort="Tsagarakis, N G" uniqKey="Tsagarakis N" first="N G" last="Tsagarakis">N G Tsagarakis</name>
</author>
<author><name sortKey="Caldwell, D G" sort="Caldwell, D G" uniqKey="Caldwell D" first="D G" last="Caldwell">D G Caldwell</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PubMed</idno>
<date when="2012">2012</date>
<idno type="doi">10.1109/TOH.2012.20</idno>
<idno type="RBID">pubmed:26964111</idno>
<idno type="pmid">26964111</idno>
<idno type="wicri:Area/PubMed/Corpus">000D40</idno>
<idno type="wicri:Area/PubMed/Curation">000D40</idno>
<idno type="wicri:Area/PubMed/Checkpoint">000C10</idno>
<idno type="wicri:Area/Ncbi/Merge">004074</idno>
<idno type="wicri:Area/Ncbi/Curation">004074</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">A High Performance Tactile Feedback Display and Its Integration in Teleoperation.</title>
<author><name sortKey="Sarakoglou, I" sort="Sarakoglou, I" uniqKey="Sarakoglou I" first="I" last="Sarakoglou">I. Sarakoglou</name>
</author>
<author><name sortKey="Garcia Hernandez, N" sort="Garcia Hernandez, N" uniqKey="Garcia Hernandez N" first="N" last="Garcia-Hernandez">N. Garcia-Hernandez</name>
</author>
<author><name sortKey="Tsagarakis, N G" sort="Tsagarakis, N G" uniqKey="Tsagarakis N" first="N G" last="Tsagarakis">N G Tsagarakis</name>
</author>
<author><name sortKey="Caldwell, D G" sort="Caldwell, D G" uniqKey="Caldwell D" first="D G" last="Caldwell">D G Caldwell</name>
</author>
</analytic>
<series><title level="j">IEEE transactions on haptics</title>
<idno type="ISSN">1939-1412</idno>
<imprint><date when="2012" type="published">2012</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This paper presents the development of a compact tactile display and its integration in teleoperation. The system's operation is based on the display of surface shape to an area of the fingertip through a 4 × 4 array of tactors moving perpendicularly to the skin surface. The tactors are spring loaded and are actuated remotely by dc motors through a flexible tendon transmission. This novel implementation of conventional actuation principles achieves a compact design with superior performance compared to devices of a similar footprint, demonstrating an excellent combination of tactor spatiotemporal resolution, force, and amplitude. The display's ergonomic design and high performance make it suitable for integration on haptic devices for tactile feedback in VR and in Teleoperation. This paper presents the design, control, and performance of the tactile display and of the transmission system. It also demonstrates its integration on an Omega7 force feedback device for the teleoperation of an LWR KUKA manipulator. An experiment is presented where users teleoperated the stylus of the robot in a 3D contour following task with and without tactile feedback. In this experiment, force feedback from the slave is fused with model-based local tactile feedback. Subjects' performances indicate an improvement in teleoperation when both tactile and force feedback are present.</div>
</front>
</TEI>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Ncbi/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004074 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Ncbi/Curation/biblio.hfd -nk 004074 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Ncbi |étape= Curation |type= RBID |clé= pubmed:26964111 |texte= A High Performance Tactile Feedback Display and Its Integration in Teleoperation. }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Ncbi/Curation/RBID.i -Sk "pubmed:26964111" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Ncbi/Curation/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
![]() | This area was generated with Dilib version V0.6.23. | ![]() |