Displaying Sensed Tactile Cues with a Fingertip Haptic Device.
Identifieur interne : 000322 ( PubMed/Corpus ); précédent : 000321; suivant : 000323Displaying Sensed Tactile Cues with a Fingertip Haptic Device.
Auteurs : Claudio Pacchierotti ; Domenico Prattichizzo ; Katherine J. KuchenbeckerSource :
- IEEE transactions on haptics [ 2329-4051 ]
Abstract
Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.
DOI: 10.1109/TOH.2015.2445770
PubMed: 26087499
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Kuchenbecker</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2015 Oct-Dec</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2015.2445770</idno><idno type="RBID">pubmed:26087499</idno><idno type="pmid">26087499</idno><idno type="wicri:Area/PubMed/Corpus">000322</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Displaying Sensed Tactile Cues with a Fingertip Haptic Device.</title><author><name sortKey="Pacchierotti, Claudio" sort="Pacchierotti, Claudio" uniqKey="Pacchierotti C" first="Claudio" last="Pacchierotti">Claudio Pacchierotti</name></author><author><name sortKey="Prattichizzo, Domenico" sort="Prattichizzo, Domenico" uniqKey="Prattichizzo D" first="Domenico" last="Prattichizzo">Domenico Prattichizzo</name></author><author><name sortKey="Kuchenbecker, Katherine J" sort="Kuchenbecker, Katherine J" uniqKey="Kuchenbecker K" first="Katherine J" last="Kuchenbecker">Katherine J. Kuchenbecker</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="eISSN">2329-4051</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="In-Process"><PMID Version="1">26087499</PMID><DateCreated><Year>2015</Year><Month>12</Month><Day>19</Day></DateCreated><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">2329-4051</ISSN><JournalIssue CitedMedium="Internet"><Volume>8</Volume><Issue>4</Issue><PubDate><MedlineDate>2015 Oct-Dec</MedlineDate></PubDate></JournalIssue><Title>IEEE transactions on haptics</Title><ISOAbbreviation>IEEE Trans Haptics</ISOAbbreviation></Journal><ArticleTitle>Displaying Sensed Tactile Cues with a Fingertip Haptic Device.</ArticleTitle><Pagination><MedlinePgn>384-96</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1109/TOH.2015.2445770</ELocationID><Abstract><AbstractText>Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Pacchierotti</LastName><ForeName>Claudio</ForeName><Initials>C</Initials></Author><Author ValidYN="Y"><LastName>Prattichizzo</LastName><ForeName>Domenico</ForeName><Initials>D</Initials></Author><Author ValidYN="Y"><LastName>Kuchenbecker</LastName><ForeName>Katherine J</ForeName><Initials>KJ</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>06</Month><Day>16</Day></ArticleDate></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>IEEE Trans Haptics</MedlineTA><NlmUniqueID>101491191</NlmUniqueID><ISSNLinking>1939-1412</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="aheadofprint"><Year>2015</Year><Month>6</Month><Day>16</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>6</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>6</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>6</Month><Day>19</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1109/TOH.2015.2445770</ArticleId><ArticleId IdType="pubmed">26087499</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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