Académique Documents
Professionnel Documents
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Presented By
Mary Wesler
Rakesh Dave
Definitions
Tactile: A sensation perceived by the sense of
touch; pressure or traction exerted on the skin is
perceived; sensitivity to vibration or movement to
stimulation of nerves.
Distal Attribution: Refers to the
referencing of our perceptions to an
external space beyond the limits of the
sensory organs themselves (Loomis,
1992).
Definitions
Kinesthetic information: Describes relative
positions and movements of body parts as well as
muscular effort when touching and manipulating
objects
Haptic perception involves both tactile
perception through the skin and kinesthetic
perception of the position and movement of the
joints and muscles. E.g Cube ,through the skin of
our fingers and the position of our fingers.
Advantages
Accessible, extensive in area, richly innervated and
capable of precise discrimination
Does not interfere materially with other functions
Number of similarities to retina
Spatial+Temporal integration
Visual and tactual patterns can be learned and
identified interchangeably
Mach Band phenomenon demonstrable on
skin(Mach's bands, the tendency of the human
eye to see bright or dark bands near the
boundaries between areas of sharply differing
illumination)
Functions as exteroceptor
Necessity
Tactile Cues refine and moderate manual
activity
Necessary for faithful telepresence
Environments where visual is less useful
Some operations inherently tactile
Entertainment value (Free to speculate!!!!)
Chapter Part I
Applications
– Sensory substitution visual/auditory
– Remote tactile sensing or feedback
Technology for production
– Static
– Vibratory
– Electro Tactile
Uses Of Tactile Substitution
Enhancing accessibility for the blind
– To enhance access to computer graphical user
interfaces
– To enhance mobility in controlled environments
– To allow for learning of visual concepts
Communication of visual information to the
brain in situations where the visual system is
already overloaded
– Race car drivers
– Airplane pilots
– Operating rooms
Uses Of Tactile Substitution
Audio to Tactile Converters
Virtual Reality
Telerobotic Manipulators
Prosthetic Limbs
(Courtesy Unitech Research)
Low Tech
Braille
Sign Language
Tadoma
Force Feed Back
Spatial information integrated with
kinesthetic information received by
manually scanning objects and texture
information by time dependent frictional
vibrations recorded by sensors. Applied to
people with Hansen’s Disease and
Astronauts in space
Tactile Auditory Feedback
Tacticon and AudioTact
– Adjusting the perceived intensity of electrodes
based on different intensities of sound
(Vocoder principle)
Tactile Visual Feedback
VideoTact
– Uses 768 point array
of tactors for Image
translation (capable of
translating BMP or
DIB format bitmaps as
well as NTSC or
PAL/SECAM video
into an electro-tactile
equivalent)
Tactile Vision Substitution
Device which converts printed matter to
vibrotactile letter outlines on users finger
pad. No longer in production due to high
cost and low demand
Interactive Haptic Displays
Static Tactile Displays
Virtual tactile tablet (finger pad mounted
on a mouse)
Force Display to feel texture
Electropthalm Vibrotactile forehead
display + finger display
Steerable water jet display
Current Technology
Linear and Planar Graspers
at MIT TOUCH Lab
Description
. The Linear Grasper is now capable
of simulating fundamental
mechanical properties of objects
such as compliance, viscosity
and mass during haptic
interactions. Virtual wall and
corner software algorithms were
developed for the Planar Grasper,
in addition to the simulation of
two springs within its workspace.
Current Technology
Harvard Robotics Lab
– Deformable tactile sensors.
Using this technology,
deformed shape of the
sensor on-line is
reconstructed This sensor
is currently being used in
manipulation tasks and in
the development of a tool
for minimally invasive
surgery.
Current Technology
Allows for feeling
temperature at the
fingertips.Used for
telepresence in remote
manipulators
(Courtesy C M Research
Group)
Sensory Physiology
Salient Features
– Skin Anatomy
• Besides fibers for pain skin has six types of
receptors
Response measures of these determine the
amount and type of information that can be
presented and classification of these have
functional roles
Sensory Physiology
Perception of non vibrating stimuli
– Static force up to a minimum of 5 dynes
applied by a fine wire is detectable by human
body.
( Particularly notable fact is that threshold for
women is less than that for men!!!!!!!!!!!!)
Limitations
As Field of view tactually increases tactile
recognition reduces when compared to
visual recognition.
Salient features may be blurred by
meaningless details
Distal Attribution
Telepresence - sense of being present in a remote
environment
Feedback - sensory information (afference)
– visual
– auditory
– tactile
Motor Control over the sensed environment (efference)
Perceptual Model
Problems
– time delays
– low spatial resolution
– conflicting information
Tactile Display Design
Considerations
Must accommodate the unique sensory characteristics of
the skin, particularly if cross-modality sensory
substitution is attempted.
The perceived stimulation magnitude should closely
match the same pressure stimulus on the skin.
Spatial Resolution - whole frame presentation is
prohibitive tracing, slit-scan presentation, edge
enhancement, and zoom features are beneficial.
Display type should match the information presentation.
Humans are resistant to change.
Static Display
Braille
Sign Language
Tadoma
Vibrotactile Display
Electrotactile Display
Types Chapter 9, Fig. 9-9
Surface
Subdermal
Percutaneous Wire
Advantages to Subdermal and Wire
Low JND
high consistency
mechanical stability
no mounting
Sensations - tingle, itch, vibration,
buzz, touch, pressure, pinch, and
sharp or burning pain
Dynamic Range
Dynamic Range
Dynamic range = threshold pain
(IP)/threshold sensation (IS)
Skin - varies from 2-10 or 6-20dB
– definition of pain
– training
– presentation of other stimuli
– electrode material, size, placement, and stimulation waveform
Ear 120dB
Eye 70dB
Authors’ Recommendation
Dynamic Range = Perceived Magnitude at
Proposed
Note: IP = 1.3 IM