Force Feeling Research Articles

FUNCTIONAL ANALYSIS IN PHYSICAL AND VIRTUAL REALITY (VR) ENVIRONMENTS – A COMPARATIVE STUDY

AbstractProduct development is time-consuming and cost-intensive. Part of the costs can be attributed to physical tests. Therefore, new methods are being researched to save resources. One upcoming area that becomes important for the industry is Virtual Reality (VR) technology.In the state of research studies have already compared VR with methods such as CAD visualizations. However, there is a need for research regarding the comparison to physical models.Therefore, a comparative study between a physical system and a VR system is evaluated in terms of functional analysis. The study task was to analyze the mechanism of a lawn sprinkler. For evaluation, a function explanation in a final interview was used.Although more different representations were possible with VR, there was no general improvement. This could be because movements were more difficult to visualize and recognize. The VR application is very suitable if you mainly have to look at systems that are difficult to view in reality. For example, some physical systems may be challenging to see in operation or may not allow a physical cut, so VR can be a solution. The advantages of physical systems can be in using other impressions, such as a feeling of certain forces.

Nexus between Global and Local in Chitwan Magars’ Performance Culture

The study analyzes the performance culture of the Magar living in Chitwan. Their culture is growing as hybrid form with mixing of the entities of global and local culture. Main concern of this study is related to the issue why and how performance culture of Chitwan’s Magar in-between of local and global culture. Qualitative research design was used to analyze the issue raises in the paper. Both primary and secondary sources of data were used and conclusion has based on the interpretation and analysis of the collected data. It is found that due to influence technology, migration , influences of mass commutation and social media, demand of tourism play role to adopt global culture and issue of self-recognition, self-dignity and indigenous feeling of pride force to continue and preserve their native cultural value and practice.

Remotely Manipulated Peg-in-Hole Task Conducted by Cable-Driven Parallel Robots

This article presents a remotely manipulated peg-in-hole task performed by a cable-driven parallel robot (CDPR) to facilitate the development of robotic fine manipulation in wide workspaces. CDPRs have offered a wide workspace with low inertia effects of actuator but have not addressed remote fine manipulation, thus, far. To mitigate these challenges, we developed a novel teleoperation approach that involves using identical CDPR configurations and an interactive haptic control scheme composed of global and local motions. Owing to the identical configurations, an operator can intuitively control the slave CDPR through visual feedback and admittance control containing wrench force feeling. To validate our findings, we conducted a remote peg-in-hole task in an experiment through UDP/IP communication. The results indicate that the given task was successfully completed and the required force and torque of the proposed method was reduced to 61.3% and 45.3% of the without-wrench feedback, based on our third-party force and torque measurements, respectively. The task completion time was reduced and the operator significantly adapted to the given task. The proposed method can provide a unique solution for robotic remote fine manipulation in a wide workspace with minimum control effort of an operator.

The Biomechanical Analysis of Jumping Difficulty Movement in National Traditional Sports

In order to explore the relevant factors and the completion of difficult movements, this paper is an important theoretical basis for improving and constructing the evaluation of athletes’ movement quality. It presents a kinematic analysis of the difficult movements of competitive Tai Chi, taking the difficult movements of the swirl group of competitive aerobics as the research object. The data is collected by different methods. When completing difficult movements, due to different personal exercise habits, this paper takes the right leg as the swinging leg and the left leg as the take-off leg when completing the difficult movements. The test object in this paper adopts the traditional three-step up-step method. The starting time of the take-off stage is consistent with the illustration. By consulting experts for the stage division of the difficult movement, the two movement stages are equally divided into three stages according to the needs of the research: take-off, soaring, and landing. The results show that, from the moment the left foot hits the ground to the moment of maximum cushioning, the angles of the right knee are 176.48° and 165.06°, respectively, and the flexion of the right knee is not large; especially when the left foot touches the ground, the right leg is close to a straight line, indicating that the athlete’s body is in a straight line. The posture is relatively good, the left foot is used as the grounding leg, the angle of the knee joint is reduced from 160.82° to 124.41°, and the left knee buffer angle is 36.40°. As the right leg swings to the ground, the left knee and left hip are slightly stretched, and the right knee and right hip are slightly flexed. This change is also reflected in the fact that the center of gravity changes from the direction of the horizontal speed at this stage. Move the left side of the body slightly to the right. Difficulty movements are different in the landing stage, and their joint parameters are also different. When the landing leg touches the ground, there is no significant difference in the maximum cushioning time, the degree of torsion of the shoulder and the hip is different, the relative rotation position of the shoulder and the hip is opposite, and the posture of the shoulders at the time of landing is different. In teaching, the landing leg and the end direction of the rotation are not the same; it is necessary to strengthen the strength training of the legs, to experience the force feeling of the different degrees of rotation of the shoulder joint and the hip joint, as well as the spatial perception ability, and take the initiative to actively land. The magnitude of the rear cushion and the coordination of the trunk and the limbs are used to avoid unnecessary damage during the landing phase.

Ungeheure Kräfte

Abstract This article examines Friedrich Nietzsche’s recourse to Robert Mayer’s physical and physiological concept of release (Auslösung) in various fragments, notes and writings from the 1880ies. Nietzsche’s understanding of force can be articulated as a critic of a purely mechanical understanding of the thermodynamic law of the conservation of energy. Based on Mayer’s writings, Nietzsche describes the eruptive quantitative release of forces as a qualitative process shaped by the bodily perception of forces. The underlying feeling of force (Kraftgefühl) can be traced in biological, psychological, historical and aesthetic phenomena and is rendered by Nietzsche both anthropomorphically as will and as a universal physiological law that determines bodily, social and moral actions.

Generic selection criteria for safety and patient benefit [IX]: Evaluation of "feeling of use" of sodium hyaluronate eye drops using the Haptic Skill Logger (HapLog®) wearable sensor for evaluating haptic behaviors

We compared the pharmaceutical properties, such as surface tension, drop volume, nozzle inner diameter, and force to push the drug product out of the container (squeeze force), of purified sodium hyaluronate eye drops preparations of one brand-name (Hyalein) and 11 generic drugs used for treatment of keratoconjunctiva epithelial disorders, and examined product selection based on the needs of the patient. The surface tension of Nissin (51.0 dyn/cm) and Nitten (52.3 dyn/cm) was significantly lower than that of Hyalein (62.8 dyn/cm), whereas Nitten PF (69.5 dyn/cm) was significantly higher than Hyalein. The drop volume of Tearbalance (42.4 mg), Nissin (43.7 mg), and Nitten (42.7 mg) was significantly lower than that of Hyalein (50.4 mg). We compared the squeeze force using a wearable touch sensor (Haptic Skill Logger: HapLog®) and digital force gauge (DF). The squeeze force of HapLog® showed values of about 1.7- to 3.5-fold higher than that of DF. Moreover, the squeeze force of Eyecare (34.0 N), Kyorin (35.4 N), and Nitten PF (44.3 N) by HapLog® was significantly higher than that of Hyalein (10.5 N). In contrast, the squeeze force of Kyorin (20.8 N) and Nitten PF (25.0 N) by DF was significantly higher than that of Hyalein (12.2 N). Two questionnaire surveys on the feeling of instillation of eye drops revealed a strong negative correlation between feeling of use and squeeze force.

Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot

Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator???s manipulation, to the slave CDPR, and the slave CDPR???s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot???s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations.

Force reflection in a pneumatic artificial muscle actuated haptic system

This paper presents a systematic technique guideline for a haptic-enabled device driven by a pneumatic artificial muscle (PAM) actuator. The proposed haptic system that can serve as a simulator or rehabilitation device was built with a steel string fixed at one end and the other end connected to a control stick. While operating the control stick, a force reflection to the human user can be experienced by human tactile sensation or kinesthetic sensation. To improve the realism presence of the haptic force, three haptic control architectures have been considered for the force feedback features. The corresponding adaptive fuzzy sliding mode controllers were then designed to compensate for the structure and parametric uncertainties to enhance the fidelity feeling of the reflection force. Maneuver tests were conducted for the proposed haptic architectures and controllers. Comparisons were made through the force tracking results.

Bio-inspired aircraft control

PurposeThis paper aims to present a state-of-the-art review in various fields of interest, leading to a new concept of bio-inspired control of small aircraft. The main goal is to improve controllability and safety in flying at low speeds.Design/methodology/approachThe review part of the paper gives an overview of artificial and natural flow sensors and haptic feedback actuators and applications. This background leads to a discussion part where the topics are synthesized and the trend in control of small aircraft is estimated.FindingsThe gap in recent aircraft control is identified in the pilot–aircraft interaction. A pilot’s sensory load is discussed and several recommendations for improved control system architecture are laid out in the paper.Practical implicationsThe paper points out an opportunity for a following research of suggested bio-inspired aircraft control. The control is based on the artificial feeling of aerodynamic forces acting on a wing by means of haptic feedback.Originality/valueThe paper merges two research fields – aircraft control and human–machine interaction. This combination reveals new possibilities of aircraft control.

Investigation of Electrohydraulic Drive Control System with the Haptic Joystick

Abstract The term haptic is used to indicate the presence of force feedback from the manipulated object to the operator. One of the most commonly used haptic devices are joysticks. Such joysticks can be successfully applied also in communication with drive system, giving the human operator a feel of the output force. In the paper one axis joystick with force feedback used to control the electrohydraulic drive is proposed. In this joystick, a controlled brake with magnetorheological fluid and a small DC motor are applied. A beam with a strain gauge is used in a joystick arm, enabling the measurement of the force. In the joystick axis also a potentiometer is assembled, which measured the current arm position. In order to develop the control algorithms an electrohydraulic drive simulation and virtual model is worked out and then a haptic joystick is connected to it. The simulation results that have been obtained, enabled to design and test impedance and admittance control strategies for the system composed of haptic joystick and a real electrohydraulic drive. Finally the whole system is built, implemented and investigated in a laboratory environment. Investigations are conducted in conditions similar to real ones, in a situation where hydraulic piston touches an obstacle and the operator cannot observe this piston very accurately. Fifteen operators have been tested this way. The outcomes indicate that haptic control can improve the human feeling of forces between electrohydraulic drive and an obstacle and, thanks to this, the manual control is more accurate and safer.

Six Degree-of-Freedom Haptic Simulation of a Stringed Musical Instrument for Triggering Sounds.

Six degree-of-freedom (DoF) haptic rendering of multi-region contacts between a moving hand avatar and varied-shaped components of a music instrument is fundamental to realizing interactive simulation of music playing. There are two aspects of computational challenges: first, some components have significantly small sizes in some dimensions, such as the strings on a seven-string plucked instrument (e.g., Guqin), which makes it challenging to avoid pop-through during multi-region contact scenarios. Second, deformable strings may produce high-frequency vibration, which requires simulating diversified and subtle force sensations when a hand interacts with strings in different ways. In this paper, we propose a constraint-based approach to haptic interaction and simulation between a moving hand avatar and various parts of a string instrument, using a cylinder model for the string that has a large length-radius ratio and a sphere-tree model for the other parts that have complex shapes. Collision response algorithms based on configuration-based optimization is adapted to solve for the contact configuration of the hand avatar interacting with thin strings without penetration. To simulate the deformation and vibration of a string, a cylindrical volume with variable diameters is defined with response to the interaction force applied by the operator. Experimental results have validated the stability and efficiency of the proposed approach. Subtle force feelings can be simulated to reflect varied interaction patterns, to differentiate collisions between the hand avatar with a static or vibrating string and the effects of various colliding forces and touch locations on the strings.

STYLES AND TYPES OF RETHINKING IN RUSSIAN POETIC METAPHOR

In the science of metaphor is used a number of approaches to the study of metaphors. The first is based on identifying the major semantic groups (spheres, fields, clusters). The starting point of such a study can become, first, the preferences of the poet in relation to the different metaphors, and second – the frequency of their use. The second is based on the analysis of the metaphors: the method of education used the stylistic techniques, the type of rethinking (lexical and semantic description of tropes closely related to the aesthetic function to metaphor), morphological component. Thus analyzing the author's language, the researcher penetrates into the artistic world, which corresponds to the units represented by R.O. Jacobson: «Doing linguistics is required for all the possible problems the relationship between and speech universe», so R.O. Jakobson speaks about a between the word and the world [Jacobson: 1975, p. 220]. In fiction the connection of the “unconnectable” leads to secondary figurative semantic word matching as a way of realization of the crucial function of language - it’s aesthetic function. As one of the many stylistic techniques I. Selvinsky uses, such as citation classics (straight or skewed). In the context of a work role of this metaphor – the relationship of the poetic essay with the Russian classics, as well as underlining the tragedy of the situation when nothing is firm, when the danger may appear suddenly, when suddenly you may require courage and other human qualities active. The author suggests that the feeling of danger forces to mobilize, does not allow relaxing. The idea of human activity, the necessity of his actions permeated the entire volume of the poetic essay.

Piezoresistive Tactile Sensor Discriminating Multidirectional Forces.

Flexible tactile sensors capable of detecting the magnitude and direction of the applied force together are of great interest for application in human-interactive robots, prosthetics, and bionic arms/feet. Human skin contains excellent tactile sensing elements, mechanoreceptors, which detect their assigned tactile stimuli and transduce them into electrical signals. The transduced signals are transmitted through separated nerve fibers to the central nerve system without complicated signal processing. Inspired by the function and organization of human skin, we present a piezoresistive type tactile sensor capable of discriminating the direction and magnitude of stimulations without further signal processing. Our tactile sensor is based on a flexible core and four sidewall structures of elastomer, where highly sensitive interlocking piezoresistive type sensing elements are embedded. We demonstrate the discriminating normal pressure and shear force simultaneously without interference between the applied forces. The developed sensor can detect down to 128 Pa in normal pressure and 0.08 N in shear force, respectively. The developed sensor can be applied in the prosthetic arms requiring the restoration of tactile sensation to discriminate the feeling of normal and shear force like human skin.

Objective evaluation for the pulling force of seat belt in a vehicle

This paper presents an objective method to evaluate the emotional feeling of the pulling force of a seat belt. Physical quantification is required to objectively evaluate the emotional feeling of the pulling force. This quantification is called the “Force metric.” The force metric is correlated with the subjective rating of the pulling force. In this paper, the force metric is extracted from the pulling force measured by using a specific robot. A subjective evaluation is performed on the pulling force of the seat belt of 18 vehicles. A pulling force index is developed by the linear regression of the force metric and subjective rating. The pulling force index is used for the objective evaluation of the emotional feeling of the pulling force of a seat belt throughout the modification of seat belt components.

Simulating sharp geometric features in six degrees-of-freedom haptic rendering.

It is a challenging problem to achieve six degree-of-freedom (DoF) haptic simulation of subtle force feelings caused by contacts at sharp geometric features in multi-region contact scenarios. We design a novel sphere-tree model for objects with sharp features and use a configuration-based optimization method to compute feedback force and torque. Given a triangle mesh of an object, a sphere-tree model is created based on dihedral angles between pairs of adjacent triangles. The model consists of a hierarchical sphere-tree for global shape and a linked-list of spheres for local areas with sharp features. In each local area with a sharp edge, we first identify those spheres with radii greater than an upper limit determined by the dihedral angle of the edge. Those spheres are further divided into a linear list of smaller spheres by a splitting method. The experiment results from a cylinder-cube interaction validate that the proposed method can simulate subtle force direction changes when an object slides across sharp edges. Perception-based experiments and a haptic-to-vision shape matching task are also used to compare the performance between our proposed method and other rendering methods. The comparison results show that our method is more effective in simulating sharp features both in terms of measured force signals and human subjective evaluation. Non-penetration among objects is maintained for multi-region contact scenarios. The haptic rendering rate is about 1kHz, and the subtle force feeling of sliding along sharp features can be stably simulated.

P 44. Behavioral and neurophysiological correlates of a motor placebo: A TMS study

Our perception of the external world is strongly modulated by our own theories, experiences, beliefs and expectations. An emblematic case of this phenomenon is represented by the so-called “placebo effect”. Until now, most of the studies investigated the effects of placebo on the sensory systems, in particular on nociception. In the current study we aimed at addressing a still partially uncovered issue, which is the neurophysiologic bases of the effect of expectation, induced through a placebo procedure, on motor performance. Subjects were assigned to three groups: experimental ( N = 13), control-1 ( N = 13) and control-2 ( N = 13). Participants had to press a piston connected to a force transducer, with the index finger. Finger pressures against the piston were converted into vertical cursor’s displacements on a PC monitor. Subjects were asked to press as strongest and fastest as possible. The protocol included three sessions: baseline, experimental manipulation and final. In control-2 group all the sessions were equal. In the experimental and control-1 groups, the baseline and final sessions were identical, whereas the experimental manipulation consisted in the application of a fake treatment (low frequency transcutaneous electrical nerve stimulation, TENS), accompanied by different verbal instructions to the two groups. The experimental group was told that TENS was an effective way to enhance force, whereas the control-1 group was told that TENS was inefficient in influencing force. In addition, soon after TENS, the experimental group underwent a conditioning procedure consisting in the surreptitious magnification of the cursor’s excursion range, so as to make subjects believe that the treatment was really effective. All the participants underwent transcranial magnetic stimulation (TMS) over the primary motor cortex before and after treatment (for control-2 we applied TMS pulse at the same time as in the other groups, but without treatment), and motor evoked potentials (MEP) were measured from the FDI and ADM muscles. TMS was delivered for all participants at the 30% of the maximal voluntary contraction. Neurophysiological (MEP amplitude and cortical silent period, CSP, duration) and behavioral measures (force level, subjective feeling of force, sense of extent) were compared in the baseline and final sessions and across groups. With respect to the baseline, in the final session the experimental group showed higher force levels ( p = 0.050), higher MEP amplitude ( p = 0.022) and lower CSP duration ( p = 0.007). On the contrary, in the two control groups the level of force, MEP and CSP did not change between the two sessions ( p > 0.050). These findings suggest that the proposed protocol is successful in inducing improvement of motor performance and hint at an enhancement of cortico-spinal activation due to a motor-placebo-like procedure.

A training system for virtual surgical incisions with haptic playback

The haptic playback system is important to the training of sensorimotor skills. With the intent for training medical students in surgery, a real-time incision training system with haptic playback is developed in this paper. This system has three modes. Mode I sets the standard cutting trajectory of the incision operation carried out by an expert. Mode II allows students to track the trajectory by haptic guidance to feel the expert's motion. Mode III lets students experience the force feeling of the expert by following the trajectory via the visual cue. To accomplish these tasks, an adjustment proportional-derivative (PD) controller and a cutting model with real-time haptic feedback are devised. The cutting model adopts the mesh adaption method for real-time simulations of progressive cutting operations. These devised methods have been configured with a haptic device PHANToM Desktop to validate the capability of the proposed training system.

Evaluation of Direct and Indirect Haptic Aiding in an Obstacle Avoidance Task for Tele-Operated Systems

AbstractThe sense of telepresence is very important in teleoperation environments in which the operator is physically separated from the vehicle. It appears reasonable, and it has already been shown in the literature, that extending the visual feedback with force feedback is able to complement the visual information (when missing or limited) through the sense of touch and allows the operator to better perceive information from the remote environment and its constraints, hopefully preventing dangerous collisions. This paper focuses on a novel concept of haptic cueing for an airborne obstacle avoidance task; the novel cueing algorithm was designed in order to appear “natural” to the operator, and to improve the human-machine interface without directly acting on the actual aircraft commands. An experimental evaluation of two different Haptic aiding concepts for obstacle avoidance is presented. An existing and widely used approach, belonging to what we called the Direct Haptic Aid (DHA) class, and a novel one based on the Indirect Haptic Aid (IHA) class. The two haptic aids were compared with a baseline condition in which no haptic force was associated to the obstacles. Test results show that a net improvement in terms of performance (i.e. the number of collisions) is provided by employing the IHA haptic cue instead of both the DHA haptic cue and the visual cue only. Most participants of the experiment reported the strongest force feeling, the most necessary effort and also the most helpful sensation with DHA and IHA conditions with respect to the baseline condition. This paper shows that the IHA philosophy is a valid alternative to the other commonly used, and published in the scientific literature, approaches which fall in the DHA category.

Coulomb Force Feeling System based on Virtual Reality Technology

Coulomb Force Feeling System based on Virtual Reality Technology

Multi-Fingered Haptic Interface Robot and its Application Systems

Haptic interfaces that represent force and tactile feeling have been utilized in the areas of telemanipulation, interaction with microscale and nanoscale phenomena, and medical training and evaluation, to mention only some applications. A multi-fingered haptic interface has greater potential for these kinds of applications than does a singlepoint haptic interface. We developed a five-fingered haptic interface robot named HIRO II, which consists of a hand with 15 dof and an arm with 6 dof. The following research issues are presented: the design method of mechanism, an interface control that takes the redundancy of the mechanism into consideration, physical simulation including frictional force and moment, a haptic rendering with a deformable object, the system architecture and two application systems--a future science encyclopedia and a VR breast palpation system.