Abstract
A prototype of a joystick where the kinesthetic feedback is substituted by tactile feedback is proposed. Tactile feedback is provided by a wearable device able to apply vertical stress to the fingertip in contact with the joystick. To test the device, rigid wall rendering is considered. Preliminary experiments show that the sensation of touching a virtual wall using the force feedback provided by the electric motor of the joystick is nearly indistinguishable from the sensation felt by the user using the tactile display only. The proposed device does not suffer from typical stability issues of teleoperation systems and is intrinsically safe.
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
Okamura, A.M.: Haptic feedback in robot-assisted minimally invasive surgery. Current Opinion in Urology 18, 1–6 (2008)
Colgate, J.E., Stanley, M., Brown, J.: Issues in the haptic display of tool use. In: Proceedings of 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems 1995. Human Robot Interaction and Cooperative Robots, Pittsburgh, PA, vol. 3, pp. 140–145 (1995)
Aziminejad, A., Tavakoli, M., Patel, R.V., Moallem, M.: Stability and performance in delayed bilateral teleoperation: Theory and experiments. Control Engineering Practice 16, 1329–1343 (2008)
Hashtrudi-Zaad, K., Salcudean, S.: Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. IEEE Transactions on Robotics and Automation 18(1), 108–114 (2002)
Black, B., Book, W.: Dynamic compensating controller for passive haptic manipulators in teleoperation. In: Proc. of the IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 1485–1491 (2009)
Conti, F., Khatib, O.: A new actuation approach for haptic interface design. The International Journal of Robotics Research 28, 834–848 (2009)
Tavakoli, M., Patel, R.V., Moallem, M.: Haptic feedback and sensory substitution during telemanipulated suturing. In: Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Pisa, Italy (2005)
Kitagawa, M., Dokko, D., Okamura, A.M., Yuh, D.D.: Effect of sensory substitution on suture manipulation forces for robotic surgical systems. Journal of Thoracic and Cardiovascular Surgery 129, 151–158 (2005)
Schoonmaker, R.E., Cao, C.G.L.: Vibrotactile force feedback system for minimally invasive surgical procedures. In: Proceedings of the 2006 IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan (2006)
Minamizawa, K., Prattichizzo, D., Tachi, T.: Simplified design of haptic display by extending one-point kinesthetic feedback to multipoint tactile feedback. In: IEEE Haptic Symposium, Waltham, Massachusetts, USA (2010)
Minamizawa, K., Fukamachi, S., Kajimoto, H., Kawakami, N., Tachi, S.: Gravity grabber: wearable haptic display to present virtual mass sensation. In: SIGGRAPH 2007: ACM SIGGRAPH 2007 emerging technologies, p. 8. ACM, New York (2007)
Rosati, G., Biondi, A., Cenci, S., Boschetti, G., Rossi, A.: A haptic system to enhance stability of heavy duty machines. In: Proc. of the ASME International Mechanical Engineering Congress Exposition, Boston, Massachusetts (2008)
Zilles, C., Salisbury, J.: A constraint-based god-object method for haptic display. In: Proceedings of 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, vol. 3 (1995)
Lam, T.M., Mulder, M., Van Paassen, M.M.: Haptic feedback in UAV tele-operation with time delay. Journal of Guidance, Control & Dynamics 31(6), 1728–1739 (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Prattichizzo, D., Pacchierotti, C., Cenci, S., Minamizawa, K., Rosati, G. (2010). Using a Fingertip Tactile Device to Substitute Kinesthetic Feedback in Haptic Interaction. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_19
Download citation
DOI: https://doi.org/10.1007/978-3-642-14064-8_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
eBook Packages: Computer ScienceComputer Science (R0)