Search results for "Haptic technology"
showing 10 items of 28 documents
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
2020
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Haptic information differentially interferes with visual analysis in reaching-grasping control and in perceptual processes.
1998
We used an interference paradigm in order to study integration between haptic and visual information in motor control and in perceptual analysis. Subjects either reached and grasped a visually presented sphere or matched its size with their left hand while manipulating with their right hand another sphere whose size could be smaller or greater. In four experiments haptic analysis of the manipulated sphere could be either automatically incorporated with or explicitly dissociated from visual analysis. In a fifth experiment reaching-grasping and matching were executed with the right hand, whereas manipulation was executed with the left hand. Manipulation with the right hand influenced finger s…
Feeling of control of an action after supra and subliminal haptic distortions
2015
Here we question the mechanisms underlying the emergence of the feeling of control that can be modulated even when the feeling of being the author of one’s own action is intact. With a haptic robot, participants made series of vertical pointing actions on a virtual surface, which was sometimes postponed by a small temporal delay (15 or 65 ms). Subjects then evaluated their subjective feeling of control. Results showed that after temporal distortions, the hand-trajectories were adapted effectively but that the feeling of control decreased significantly. This was observed even in the case of subliminal distortions for which subjects did not consciously detect the presence of a distortion. Our…
Comparing Tangible and Fully Virtual Haptic Systems for HMI Studies in Simulated Driving Situations
2019
International audience; The contribution of tangible and intangible feedback is compared for virtual tactile car Human-Machine Interfaces (HMI) design, to measure their performance both in static conditions and while driving. A subjectively calibrated transparent glass provides tangible passive haptics, and visual cues are used to study sensory substitution-based intangible interactions. The results show that the performance of the subjects was significantly improved in driving conditions as they interacted faster, more accurately and with a higher satisfaction. In addition, our findings highlight that the contribution of tangible systems is significantly lower in driving conditions, raisin…
Developing hand-worn input and haptic support for real-world target finding
2019
Locating places in cities is typically facilitated by handheld mobile devices, which draw the visual attention of the user on the screen of the device instead of the surroundings. In this research, we aim at strengthening the connection between people and their surroundings through enabling mid-air gestural interaction with real-world landmarks and delivering information through audio to retain users' visual attention on the scene. Recent research on gesture-based and haptic techniques for such purposes has mainly considered handheld devices that eventually direct users' attention back to the devices. We contribute a hand-worn, mid-air gestural interaction design with directional vibrotacti…
A New Myohaptic Device to Assess Wrist Function in the Lab and in the Clinic – The Wristalyzer
2008
Wristalyzer is a portable robotic device combining haptic technology with electromyographic assessment. It allows to assess wrist motion in physiological and pathological conditions by applying loads and mechanical oscillations, taking into account the ergonomy and the angular positioning of the joints. The wristalyzer works in a free or loaded mode for assessment of metrics of motion and tremor, analyzes the behavior of the wrist joints and the associated muscle activities during delivery of mechanical oscillations, estimates the maximal voluntary contraction, assesses automatically the impedance of the wrist for assessment of rigidity or spasticity. Position, torques and electromyographic…
A Low-Cost Multi-Modal Auditory-Visual-Tactile Framework for Remote Touch
2020
International audience; Haptic technology for human augmentation provides gains in ability for different applications, whether the aim is to enhance "disabilities" to "abilities", or "abilities" to "super-abilities". Commercially-available devices are generally expensive and tailored to specific applications and hardware. To give researchers a haptic feedback system that is economical, customisable, and fast to fabricate, our group developed a low-cost immersive haptic, audio, and visual experience built by using off-the-shelf (COTS) components. It is composed of a vibrotactile glove, a Leap Motion sensor, and an head-mounted display, integrated together to provide compelling immersive sens…
Enabling independent navigation for visually impaired people through a wearable vision-based feedback system
2017
This work introduces a wearable system to provide situational awareness for blind and visually impaired people. The system includes a camera, an embedded computer and a haptic device to provide feedback when an obstacle is detected. The system uses techniques from computer vision and motion planning to (1) identify walkable space; (2) plan step-by-step a safe motion trajectory in the space, and (3) recognize and locate certain types of objects, for example the location of an empty chair. These descriptions are communicated to the person wearing the device through vibrations. We present results from user studies with low- and high-level tasks, including walking through a maze without collisi…
Importance of force feedback for following uneven virtual paths with a stylus
2021
It is commonly known that a physical textured path can be followed by indirect touch through a probe also in absence of vision if sufficiently informative cues are delivered by the other sensory channels, but prior research indicates that the level of performance while following a virtual path on a touchscreen depends on the type and channel such cues belong to. The re-enactment of oriented forces, as they are induced by localized obstacles in probe-based exploration, may be important to equalize the performance between physical and virtual path following. Using a stylus attached to a force-feedback arm, an uneven path marked by virtual bars was traversed while time and positions were measu…