A multi-DOF haptic representation using suction pressure stimuli on finger pads

Daiki Maemori, Lope Ben Porquis, Masashi Konyo, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Humans can perceive external forces applied on a grasping tool based on skin pressure distribution at multiple contact areas during grasp. The authors have tried to represent external forces and torques by controlling the skin pressure distributions using suction stimuli and confirmed the potential but in a heuristic manner. In this paper, we investigate an improved method of skin stimulation based on a combination of psychophysical experiments and mechanical simulation. We focus on a simplification method of the complex strain energy density (SED) distribution at the contact areas with four quadrant values (SED index). The relationship between suction pressure and SED index was achieved by connecting the experiment and the mechanical simulation. We confirmed that a suitable SED index could represent the magnitudes of forces in multiple directions with a linear function. Experimental results also showed that the proposed method could represent arbitrary directions between pairs of the orthogonal axes.

Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationNeuroscience, Devices, Modeling, and Applications - 9th International Conference, EuroHaptics 2014, Proceedings
EditorsMalika Auvray, Christian Duriez, Christian Duriez, Malika Auvray
PublisherSpringer-Verlag
Pages285-294
Number of pages10
ISBN (Electronic)9783662441954
DOIs
Publication statusPublished - 2014 Jan 1
Event9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014 - Versailles, France
Duration: 2014 Jun 242014 Jun 26

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8619
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other9th International Conference on Haptics: Neuroscience, Devices, Modeling, and Applications, EuroHaptics 2014
Country/TerritoryFrance
CityVersailles
Period14/6/2414/6/26

Keywords

  • Force illusion
  • Haptic interfaces
  • Skin deformation
  • Suction pressure
  • Tool manipulation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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