Summary
The present chapter describes the design and the realization of a haptic device dedicated to research prototyping of inclusive haptic rendering in bare hand encounter-type interaction. Our device aims at rendering surface profile haptics by means of a multi-stage display combining force and tactile feedback into a single device. The idea behind the multilevel architecture is to superpose actuators of different frequencies and bandwidths each of which is linked to a specific time-space frequency band of the surface profile. We discuss a number of constraints and difficulties that have been faced in an attempt to integrate combined force/tactile rendering in a single compact device with visual space co-localization.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Drif, A., Citérin, J., Kheddar, A.: A multilevel haptic display design. In: IEEE/RSJ International Conference on Robots and Intelligent Systems, Sendai, Japan (2004)
Wagner, C.R., Lederman, S.J., Howe, R.D.: A tactile shape display using rc servomotors. In: 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Orlando, FL, USA (2002)
Shinohara, M.-A., Whitehouse, J.-M., Lamotte, R.-H.: Tactile detection of slip: Surface microgeometry and peripheral neural codes. Neurophysiol Journal (1998)
Kaczmarek, K.A., Bach-y-Rita, P.: Tactile displays. In: Barfield, W., Furness, T. (eds.) Virtual Environments and Advanced Interface Design, Oxford University Press, Oxford (1995)
Lee, J.-H., Ahn, I.-S., Park, J.-O.: Design and implementation of tactile feedback device using electromagnetic type. In: IEEE/RSJ International Conference on Robots and Intelligent Systems, Korea (1999)
Kontarinis, D.A., Howe, R.D.: Tactile display of vibratory informations in teleoperation and virtual environments. PRESENCE: Teleoperators and Virtual Environments 4, 387–402 (1995)
Ikei, Y., Wakamatsu, K., Fukuda, S.: Texture presentation by vibratory tactile display image based presentation of a tactile texture. In: Virtual Reality Annual International Symposium, vol. 0, p. 199 (1997)
Ikei, Y., Shiratori, M.: TextureExplorer: A tactile and force display for virtual textures. In: Symposium on Haptic Interfaces for Virtual Environments & Teleoperator Systems, Orlando, FL, USA (2002)
Hayward, V., Cruz-Hernández, J.M.: TextureExplorer: A tactile and force display for virtual textures. In: Haptic Interfaces for Virtual Environment and Teleoperator Systems Symposium, Orlando, Florida (2000)
Pasquero, J., Hayward, V.: STReSS: a practical tactile display system with one millimeter spatial resolution and 700Hz refresh rate. In: Proceedings of Eurohaptics 2003, Dublin, Ireland (2002)
Salada, M., Colgate, J.-E., Vishton, P.: Validating a novel approach to rendering fingertip contact sensations. In: Proceedings of the 10th International HAPTICS 2002 Symposium, Orlando, FL, USA (2002)
Salada, M., Colgate, J.-E., Vishton, P., Frankel, E.: Two experiments on the perception of slip at the fingertip. In: Proceedings of the 12th International HAPTICS 2004 Symposium, Chicago, IL, USA (2004)
Bergamasco, M.: Haptic interfaces: the study of force and tactile feedback systems. In: IEEE Workshop on robot and human communication, Tokyo, Japan (1995)
Benali-Khoudja, M.: Une étude physiologique et un état de lárt technologique sur le rendu tactile. CEA/LIST, Technical Report (2002)
Singh, U.: Temporal characteristics of human finger. Research Project. University of California at Berkley, Berkley, CA, USA (1998)
Kheddar, A.: Problems in designing inclusive haptic devices. In: Touch and Haptics Workshop, IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan (2004)
Kart, D. (ed.): The world of touch. Lawrence Erlbaume Associates, Hillsdale, NJ, USA (1989)
Lederman, S.J., Klatzky, R.L., Hamilton, C.L., Ramsay, G.I.: Perceiving surface roughness via a rigid probe: Effects of exploration speed and mode of touch. Haptic e-journal (1999), http://www.haptics-e.org
Burdea, G.: Force and Touch Feedback for Virtual Reality. John Wiley & Sons, New York (1996)
Wall, S.A., Harwin, W.S.: Effects of physical bandwidth on perception of virtual gratings. In: Proceedings of the ASME Dynamic Systems and Control Division, vol. 2, pp. 1033–1047 (2000)
Lamotte, R.H., Srinivasan, M.A.: Surface microgeometry: Tactile perception and neural encoding. In: Franzen, O., Westman, J. (eds.) Information Processing in the Somatosensory System, Macmillan, New York (1991)
Dostmohamed, H., Hayward, V.: Contact Location Trajectory on the Fingertip as a Sufficient Requisite for Illusory Perception of Haptic Shape and Effect of Multiple Contacts. In: Barbagli, F., Prattichizzo, D., Salisbury, K. (eds.) Multi-point Interaction with Real and Virtual Objects. Springer Tracts in Advanced Robotics (2005)
Kheddar, A., Drif, A., Citérin, J., Le Mercier, B.: A multi-level haptic rendering concept. In: Proceedings of Eurohaptics 2004, Munich, Germany (2004)
Drif, A., Le Mercier, B., Citérin, J., Amouri, A., Kheddar, A.: Realization and experimentation of multilevel display systems. Project Deliverable D6.6, TOUCH-HapSys (2005)
Ellis, R.R., Ismaeil, O.M., Lipsett, M.: Design and evaluation of a high-performance haptic interface. Robotica 14, 321–327 (1996)
Kheddar, A., Le Mercier, B., Citérin, J.: Haptic texture and pattern demonstrator, Ch. 1, Project Deliverable D7.3, TOUCH-HapSys (2005)
Lange, C., Fritschi, M., Le Mercier, B.: Evaluation of Haptic Texture and Pattern Demonstrator. Project Deliverable D7.4, TOUCH-HapSys (2006)
Le Mercier, B., Kheddar, A.: A simple way of integrating texture in virtual environments for haptic rendering. In: Proceedings of the 12th International Conference on Advanced Robotics, Seattle, WA, USA (2005)
Le Mercier, B., Kheddar, A.: Texture computer haptics from graphic texture mapping. In: Proceedings of the 17th IMACS World Congress, Paris, France (2005)
Ernst, M.O., Bülthoff, H.: Merging the senses into a robust percept. Trends in Cognitive Neuroscience, London, UK. Elsevier, Amsterdam (2004)
Brown, J.M., Colgate, J.-E.: Passive implementation of multibody simulations for haptic displays. In: Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exhibition, Northwestern University, Dallas, TX, USA (1997)
Adams, R.J., Moreyra, M., Hannaford, B.: Stability and Performance of haptic displays: theory and experiments. In: Proceedings of the ASME Winter annual Meetings of haptics workshop, Anaheim, CA, USA (1998)
Salcudean, S.E., Vlaar, T.: On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input-Output Device. ASME Journal of Dynamics, Measurement and Control, 127–132 (1997)
Pocheville, A., Kheddar, A.: I-touch: a framework for computer haptics. In: IROS Workshop (2005)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Drif, A., Le Mercier, B., Kheddar, A. (2008). Design of a Multilevel Haptic Display. In: Bicchi, A., Buss, M., Ernst, M.O., Peer, A. (eds) The Sense of Touch and its Rendering. Springer Tracts in Advanced Robotics, vol 45. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79035-8_10
Download citation
DOI: https://doi.org/10.1007/978-3-540-79035-8_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-79034-1
Online ISBN: 978-3-540-79035-8
eBook Packages: EngineeringEngineering (R0)