Abstract
Recent investigation in haptic man-robot interaction suggests that there are ultimately only two topical tactile feedback generation modalities for haptic human interfaces. These allow the human operator to handle either (i) temporary virtual reality-based material replicas of the local geometric and/or force profile at the contact areas of an unlimited set of generic objects that could virtually be handled during the manipulation, or (ii) permanent material replicas of a limited set of typical objects. In this paper, the two modalities are analyzed and examples of tactile human interfaces developed by the authors for telerobotic blind tactile exploration of objects, and for telerobotic hapto-visual stylus-style tool manipulation are presented to illustrate the proposed approaches. The necessary modelling of the elastic properties of 3D objects from experimental tactile and range imaging data is also presented using a neural network architecture that becomes an important component of the haptic interface.
Highlights
While discussing human perception mechanisms, Sekuler and Balke [1] eloquently stated that... whether exploring gross or small details, the hand and the finger pads convey the most useful tactile information about objects
Human haptic perception is the result of a complex investigatory dexterous manipulation act involving two distinct sensing components: (i) tactile, or cutaneous, information from touch sensors which provide data about contact force, local geometric profile, texture, and temperature of the touched object-area, and (ii) kinesthetic information about the positions and velocities of the kinematic structure of the hand [2]
Telerobotic dexterous manipulation in changing and unstructured environments combines the low-level robot computer control with the higher-level perception and task planning abilities of a human operator equipped with adequate human interfaces [6]
Summary
While discussing human perception mechanisms, Sekuler and Balke [1] eloquently stated that. Human haptic perception is the result of a complex investigatory dexterous manipulation act involving two distinct sensing components: (i) tactile, or cutaneous, information from touch sensors which provide data about contact force, local geometric profile, texture, and temperature of the touched object-area, and (ii) kinesthetic information about the positions and velocities of the kinematic structure (bones and muscles) of the hand [2]. This paper discusses the basic generation principles for the local geometric and force profile components of the tactile feedback provided by the haptic human interfaces. This approach allows for the design of specialized haptic human interfaces that are optimized for typical haptic manipulation tasks. The paper concludes with the description of a neural network hapto-visual modeling technique that allows the capture, storage, and rendering in realtime of the complex elastic properties of 3D objects from experimental tactile and range imaging data
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