Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback
This paper reveals that lateral softness sensations can emerge in surface tactile tele-presentation systems with force feedback, if the systems have improper displacement measurements and/or stiness mismatches between a fingertip and tactile sensors. In surface tactile tele-presentation systems, fri...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2014-07-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/8/3/8_2014jamdsm0017/_pdf/-char/en |
| _version_ | 1811223986649956352 |
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| author | Fuminobu KIMURA Hiroshi KUDO Akio YAMAMOTO |
| author_facet | Fuminobu KIMURA Hiroshi KUDO Akio YAMAMOTO |
| author_sort | Fuminobu KIMURA |
| collection | DOAJ |
| description | This paper reveals that lateral softness sensations can emerge in surface tactile tele-presentation systems with force feedback, if the systems have improper displacement measurements and/or stiness mismatches between a fingertip and tactile sensors. In surface tactile tele-presentation systems, friction force should be reproduced on the master device for high fidelity rendering. If, however, the remote tactile sensor is made of soft material to resemble human fingers, users may experience apparent lateral softness, which does not exist in the remote sample. This work investigates such a phenomenon by using a force-reflecting type master-slave system. The phenomenon is analyzed to provide a simple solution to dissolve the lateral stiness problem. The experiments reveal that the selection of displacement sensing point is important to prevent emergence of the apparent softness, in addition to the matching of sensor stiffness. The paper also discusses how the force reflecting gain affects the phenomenon. |
| first_indexed | 2024-04-12T08:42:42Z |
| format | Article |
| id | doaj.art-605412f2960e4ed497c741303cc6a678 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-12T08:42:42Z |
| publishDate | 2014-07-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-605412f2960e4ed497c741303cc6a6782022-12-22T03:39:49ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542014-07-0183JAMDSM0017JAMDSM001710.1299/jamdsm.2014jamdsm0017jamdsmEmergence of lateral softness sensations in surface tactile tele-presentation systems with force feedbackFuminobu KIMURA0Hiroshi KUDO1Akio YAMAMOTO2The University of TokyoThe University of TokyoThe University of TokyoThis paper reveals that lateral softness sensations can emerge in surface tactile tele-presentation systems with force feedback, if the systems have improper displacement measurements and/or stiness mismatches between a fingertip and tactile sensors. In surface tactile tele-presentation systems, friction force should be reproduced on the master device for high fidelity rendering. If, however, the remote tactile sensor is made of soft material to resemble human fingers, users may experience apparent lateral softness, which does not exist in the remote sample. This work investigates such a phenomenon by using a force-reflecting type master-slave system. The phenomenon is analyzed to provide a simple solution to dissolve the lateral stiness problem. The experiments reveal that the selection of displacement sensing point is important to prevent emergence of the apparent softness, in addition to the matching of sensor stiffness. The paper also discusses how the force reflecting gain affects the phenomenon.https://www.jstage.jst.go.jp/article/jamdsm/8/3/8_2014jamdsm0017/_pdf/-char/ensurface hapticstactile telepresentationlateral compliancelateral stiffnessshear deformation |
| spellingShingle | Fuminobu KIMURA Hiroshi KUDO Akio YAMAMOTO Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback Journal of Advanced Mechanical Design, Systems, and Manufacturing surface haptics tactile telepresentation lateral compliance lateral stiffness shear deformation |
| title | Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback |
| title_full | Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback |
| title_fullStr | Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback |
| title_full_unstemmed | Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback |
| title_short | Emergence of lateral softness sensations in surface tactile tele-presentation systems with force feedback |
| title_sort | emergence of lateral softness sensations in surface tactile tele presentation systems with force feedback |
| topic | surface haptics tactile telepresentation lateral compliance lateral stiffness shear deformation |
| url | https://www.jstage.jst.go.jp/article/jamdsm/8/3/8_2014jamdsm0017/_pdf/-char/en |
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