Force Feedback Research Articles

Fiber-Reinforced Equibiaxial Dielectric Elastomer Actuator for Out-of-Plane Displacement.

Dielectric elastomer actuators (DEAs) have gained significant attention due to their potential in soft robotics and adaptive structures. However, their performance is often limited by their in-plane strain distribution and limited mechanical stability. We introduce a novel design utilizing fiber reinforcement to address these challenges. The fiber reinforcement provides enhanced mechanical integrity and improved strain distribution, enabling efficient energy conversion and out-of-plane displacement. We discuss an analytical model and the fabrication process, including material selection, to realize fiber-reinforced DEAs. Numerical simulations and experimental results demonstrate the performance of the fiber-reinforced equibiaxial DEAs and characterize their displacement and force capabilities. Actuators with four and eight fibers are fabricated with 100 μm and 200 μm dielectric thicknesses. A maximal out-of-plane displacement of 500 μm is reached, with a force of 0.18 N, showing promise for the development of haptic devices.

Enhanced compression performance of an improved rectangular helical spring incorporated support feature

The spring system functions as a pivotal element of the check valve, with its compression performance significantly influencing the valve's time, flow stability, and other characteristics. Taking cues from conventional springs, a refined rectangular helical spring with integrated support features was thoroughly evaluated for its compression performance. The design approach for this spring was elucidated, encompassing the utilization of the Finite Element Method (FEM) to model its compression behavior. Additionally, a laboratory configuration was implemented to authenticate the findings derived from the FEM simulation. Subsequently, a comparative investigation was carried out between an engineered spring and a conventional spring subjected to analogous processing. The comparative analysis unveiled that the support-featured spring exhibited a diminished lateral offset of 2.84 mm (equivalent to a reduction of 10.1 %) and a force-displacement curve with narrower vibration intervals and smaller amplitudes. Moreover, it exhibited an enhanced force feedback of 17.5 % under identical compression displacement conditions.

Navigating the Metaverse: A Comprehensive Analysis of Consumer Electronics Prospects and Challenges

Rapid innovation in consumer electronics has made our lives more comfortable. Consumer electronics serve as the primary platform for the Metaverse (MV), offering users an immersive and interactive medium that connects the digital and real worlds. Consumer electronics play a crucial role in ensuring the accessibility and the user experience within the Metaverse. Despite the vital role of consumer electronics in enabling an immersive metaverse experience, a detailed survey has yet to cover different facets. Addressing this research gap, we present a comprehensive review covering several applications, case studies, and challenges of consumer electronics in Metaverse. We present the role and scope of different consumer electronics devices like VR(Virtual Reality) headsets, AR(Augmented Reality) headsets, haptic feedback devices, and smartphones in Metaverse applications. We present an illustrative case study on how consumer electronics assist education in the Metaverse. Several device-specific challenges include restricted field of view, latency issues, synchronization issues, and non-device-specific challenges like interoperability, scalability, and data privacy. Our survey shall help researchers explore more prospects for making this integration stronger.

3D-ElectroZip touch: multi-directional haptic feedback with electro-ribbon zipping actuators

This paper introduces the 3D-ElectroZip Touch, a multi-directional force feedback device developed using dielectrophoretic liquid zipping actuation. The device is designed to stimulate the sense of normal and shear forces by moving in vertical and multiple horizontal directions. Its performance, including displacement, force, and actuation time has been characterized under input voltages from 6 kV to 9 kV, demonstrating a displacement range of 5–11 mm, force range of 0.05 N to 0.22 N, power output ranges from 0.08 W to 0.077 W, and maximum energy efficiency of 72%. The 3D-ElectroZip Touch shows a quick response to the input signal, moving its contact panel by 1.1 mm in 70 ms (36.5% of human reaction time) at 9 kV. Comparing its basic characteristics with the skin sensitivity and the lightweight, compliance, and scalability of the 3D-ElectroZip Touch technology show its high potential to be exploited in tactile displays and wearable haptic feedback devices.

Ultrasonic Haptic Devices: Ultrasonic Noise Assessment

Ultrasonic haptic technology is one of the more interesting novel technologies being intensively developed in recent years. Such technology has a number of undoubted advantages and potential applications, but it can also be a source of ultrasonic noise. Pursuant to the provisions of the labor law, ultrasonic noise at a high sound pressure level can be a harmful factor for human health. The article presents the results of the assessment of ultrasonic noise emitted by an ultrasonic haptic device and the assessment of exposure to noise of a person using the device. The tests were carried out using one of the haptic devices readily available on the market. Ultrasonic noise emission tests were carried out around the device, at selected points placed on the surface of a hemisphere of a radius of 0.5 m, for various haptic objects. The analyzed parameter was the equivalent sound pressure level in the 1~3 octave band with a center frequency of 40 kHz. Variable sound pressure levels ranged from 96 dB to 137 dB. Noise exposure tests were carried out both using the KEMAR measurement dummy and with test participants of different heights. In most cases, the sound pressure level exceeded 110 dB, and in the worst case it exceeded 131 dB. Comparison of the results of ultrasonic noise assessments with the permissible values of this noise in the working environment shows that in the case of prolonged or improper use of the device, the permissible values may be exceeded.

3D Hand Motion Generation for VR Interactions Using a Haptic Data Glove

Recently, VR-based training applications have become popular and promising, as they can simulate real-world situations in a safe, repeatable, and cost-effective way. For immersive simulations, various input devices have been designed and proposed to increase the effectiveness of training. In this study, we developed a novel device that generates 3D hand motion data and provides haptic force feedback for VR interactions. The proposed device can track 3D hand positions using a combination of the global position estimation of ultrasonic sensors and the hand pose estimation of inertial sensors in real time. For haptic feedback, shape–memory alloy (SMA) actuators were designed to provide kinesthetic forces and an efficient power control without an overheat problem. Our device improves upon the shortcomings of existing commercial devices in tracking and haptic capabilities such that it can track global 3D positions and estimate hand poses in a VR space without using an external suit or tracker. For better flexibility in handling and feeling physical objects compared to exoskeleton-based devices, we introduced an SMA-based actuator to control haptic forces. Overall, our device was designed and implemented as a lighter and less bulky glove which provides comparable accuracy and performance in generating 3D hand motion data for a VR training application (i.e., the use of a fire extinguisher), as demonstrated in the experimental results.

Research on the Application of Haptic Devices into Virtual Reality

Research on the Application of Haptic Devices into Virtual Reality

A Review of Recent Literature on Audio-Based Pseudo-Haptics

Immersive virtual learning environments (iVLEs), particularly serious games and virtual simulations, typically ignore psychomotor skills development, partly due to the difficulty and cost associated with accurately replicating touch. Simulating touch, also known as haptics, requires specialized haptic devices that are not widely accessible at the consumer-level. Using visual (and/or auditory) cues, pseudo-haptics aims to mimic touch sensations without haptic devices. Although pseudo-haptics has predominantly focused on visual cues, a 2019 review by Collins and Kapralos on pseudo-haptics emphasized the role of auditory cues and cross-modal interactions. Since then, great advancements, notably during the COVID-19 pandemic’s shift to remote learning, have been made. Here, we build upon the work of Collins and Kapralos with a narrative review on audio-based pseudo-haptics. This narrative review explores 17 articles obtained from the Google Scholar, RefSeek, Scopus, and PubMed databases, with the aim of providing a comprehensive summary of the progress in this field since 2019. Pseudo-haptics presents a viable alternative to simulate various aspects of touch, including weight, stiffness, roughness, dampness, force, and glossiness, when haptic devices are unavailable, enhancing immersion and providing the potential to improve psychomotor skill training within iVLEs.

Development of a 6 degrees- of-freedom hybrid interface intended for teleoperated robotic cervical spine surgery

Abstract This paper deals with the development of a 6-degrees-of-freedom (DoF) hybrid interface for a teleoperated robotic platform intended to assist surgeons in cervical spine surgery. The targeted task is the drilling of cervical vertebrae for the attachment of spinal implants. Given the complex anatomy of the cervical region, with the proximity of the spinal cord and vertebral arteries, high accuracy in the drilling procedure is required to avoid complications for the patient. In this context, the proposed hybrid interface has been designed to meet the requirements of the drilling task, in terms of degrees of freedom, workspace and force feedback, which have been identified through a literature review. It consists of an association of two parallel mechanisms and a centrally located serial mechanism. Direct and inverse kinematic modelling of each mechanism as well as the one of the complete interface were carried out. A study of the dexterity distribution of the parallel mechanisms was carried out in order to select the suitable interface working mode that would keep the singularities away from the prescribed workspace. In addition, the force feedback was implemented in static mode, neglecting in a first time the weight of the system. The interface design parameters were then optimized to avoid singularities within the prescribed workspace, to minimize motor torques, and to reduce the size of the interface. These development stages led to the design of a motorized prototype of the hybrid interface.

Testing a novel haptic tram master controller technology via virtual reality: feasibility and user acceptance considerations

PurposeVirtual reality (VR) has been explored as a training and testing environment in a range of work contexts, and increasingly so in transport. There is, however, a lack of research exploring the role of VR in the training of tram drivers, and in providing an environment in which advances in tram technology can be tested safely. This study aimed to test a novel haptic tram master controller within a tram-based Virtual environment (VE).Design/methodology/approachThe master controller is the primary mechanism for operating a tram, and its effective manipulation can significantly influence the comfort and well-being of passengers, as well as the overall safety of the tram system. Here, the authors tested a haptically enhanced master controller that provides additional sensory information with 16 tram drivers. The feasibility and user acceptance of the novel technology were determined through surveys.FindingsThe results indicate that the haptic master controller is seen as beneficial to the drivers suggesting that it could enhance their driving and demonstrate good acceptance. The VE has provided a potential training environment that was accepted by the drivers and did not cause adverse effects (e.g. sickness).Research limitations/implicationsAlthough this study involved actual tram drivers from a local tram company, the authors acknowledge that the sample size was small, and additional research is needed to broaden perspectives and gather more user feedback. Furthermore, while this study focused on subjective feedback to gauge user acceptance of the new haptic technology, the authors agree that future evaluations should incorporate additional objective measures.Practical implicationsThe insights gained from this VE-based research can contribute to future training scenarios and inform the development of technology used in real-world tram operations.Originality/valueThrough this investigation, the authors showed the broader possibilities of haptics in enhancing the functionality and user experience of various technological devices, while also contributing to the advancement of tram systems for safer and more efficient urban mobility.

Relationships Between Variables Obtained from a Virtual Calligraphy System Using a Haptic Device and Upper Limb Function: An Exploratory Study

Relationships Between Variables Obtained from a Virtual Calligraphy System Using a Haptic Device and Upper Limb Function: An Exploratory Study

Muscle Modeling between Upper Arm and Lower Arm for Wearable Haptic Sleeve for Force Feedback of Virtual Reality

Muscle Modeling between Upper Arm and Lower Arm for Wearable Haptic Sleeve for Force Feedback of Virtual Reality

Robotic Assistance and Haptic Feedback in Arthroscopic Procedures: Design and Preliminary Evaluation of a Two-Arm System

Robot-assisted arthroscopic surgery has been receiving growing attention in the field of orthopedic surgery. Most of the existing robot-assisted surgical systems in orthopedics place more focus on open surgery than minimally invasive surgery (MIS). In traditional arthroscopic surgery, the surgeon needs to hold an arthroscope with one hand while performing the surgical operations with the other hand, which can restrict the dexterity of the surgical performance and increase the cognitive load. On the other hand, the surgeon heavily relies on the arthroscope view when conducting the surgery, whereas the arthroscope view is a largely localized view and lacks depth information. To assist the surgeon in both scenarios, in this work, we develop a two-arm robotic system. The left-arm robot is used as a robot-assisted arthroscope holder, and it can hold the arthroscope still at a designated pose and reject all other potential disturbances, while also allowing the operator to move it via a pedal switch whenever needed. The left-arm robot is implemented with an impedance controller and a gravity iterative learning (Git) scheme, where the former can provide compliant robot behavior, thus ensuring a safe human–robot interaction, while the latter can accurately learn for gravity compensation. The right-arm robot is used as a robot-assisted surgical tool, providing virtual fixture (VF) assistance and haptic feedback during the surgery. The right-arm robot is implemented with a point-based VF algorithm, which can generate VF directly from point clouds in any shape, render force feedback, and deliver it to the operator. Furthermore, the VF, the bone, and the surgical tool position are visualized in a 3D digital environment as additional visual feedback for the operator. A series of experiments are conducted to evaluate the effectiveness of the prototype. The results demonstrate that both arms can provide satisfactory assistance as designed.

Research on dynamic game operation behavior of multi‐oligopoly car‐sharing operators considering off‐peak pricing factors

AbstractIn the practical evolution of shared vehicle systems, numerous societal factors come into play, such as inadequate parking infrastructure, battery capacity, and the budget for technological improvement. This study integrates the operational realities of shared vehicle systems with governmental carbon emission reduction policies and “double control” initiatives. Considering various perturbations, the paper constructs a Stackelberg short‐term model among diverse oligopolistic shared vehicle operators with technique sharing. It also develops a long‐term repeated game framework to scrutinize the impact of pertinent parameters on operators' decision variables and profits, along with system stability and complexity. The findings, elucidated through numerical analyses, reveal that the burgeoning sensitivity of users to energy conservation augments the overall shared vehicle market. The technique sharing mechanism boosts the benefit of the whole group of shared vehicle operators while diminishing the start‐up operators' revenue. In the long term, however, excessive price adjustments by SEV operators may lead to market chaos and profit erosion. Conversely, enhancing the adjustment coefficient of technological level levels by start‐up SEV2 operators may result solely in their own decision‐making becoming unmanageable. Finally, we found that both the methods of external force feedback control and parameter control are effective in restoring the chaotic market to stability.

A Comparative Study Between a Large Screen and an HMD Using Wind Representations in Virtual Reality.

In this article, we investigated the representation of wind in urban spaces through computational fluid dynamics simulations in virtual environments (VE). We compared wind perception (force and direction) as well as the sense of presence and embodiment in VE using different display technologies: head-mounted displays (HMD) and large screens, with or without an avatar. The tactile display was found to be most effective for detecting wind characteristics and enhancing presence and embodiment in virtual scenes, regardless of display type. Wind force and overall presence showed no significant differences between projection methods, but the perception of wind direction varied, which can be attributed to the head tracking of the HMD. In addition, gender differences emerged: females had a 7.42% higher presence on large screens, while males had a 23.13% higher presence with HMD (avatar present). These results highlight nuances in wind perception, the influence of technology, and gender differences in VE.

Soft robotic fingers with sensorized pre-charged finger pulp

Pneumatically driven soft actuators with sensors have been developing rapidly these years. They can perceive external stimulus and be applied to different scenarios. In this study, we present a novel soft robotic finger with sensorized finger pulp based on sealing a flexible fabric piezoresistive film called Velostat into a pre-charged air bag, which can perceive the contact force with an object based on changes in resistance value of the sensor. The soft sensor mimics human finger pulp and deforms passively according to the shape of objects during grasping, so that it can firmly contact with objects and as such improves the gripper’s grasping stability. Moreover, based on force feedback, the actuator can reduce or increase the input pressure to hold the object and control the contact force precisely. The sensor exhibits a sensitivity of up to 0.328 kPa−1 and can measure pressures ranging from 0 to over 10 kPa. The sensor’s measurement range and sensitivity can be pre-adjusted by regulating the pre-charged pressure during fabrication for different grasping tasks. The response/recovery time of the sensor is 80/60 ms on average. Experiments show that the finger with sensorized pulp can be applied for object softness and size detection, object transport minitoring as well as force control grasping. The proposed soft robotic finger has potential for applications in scenarios that require safe contact and closed-loop control.

Improved tactile speech perception and noise robustness using audio-to-tactile sensory substitution with amplitude envelope expansion

Recent advances in haptic technology could allow haptic hearing aids, which convert audio to tactile stimulation, to become viable for supporting people with hearing loss. A tactile vocoder strategy for audio-to-tactile conversion, which exploits these advances, has recently shown significant promise. In this strategy, the amplitude envelope is extracted from several audio frequency bands and used to modulate the amplitude of a set of vibro-tactile tones. The vocoder strategy allows good consonant discrimination, but vowel discrimination is poor and the strategy is susceptible to background noise. In the current study, we assessed whether multi-band amplitude envelope expansion can effectively enhance critical vowel features, such as formants, and improve speech extraction from noise. In 32 participants with normal touch perception, tactile-only phoneme discrimination with and without envelope expansion was assessed both in quiet and in background noise. Envelope expansion improved performance in quiet by 10.3% for vowels and by 5.9% for consonants. In noise, envelope expansion improved overall phoneme discrimination by 9.6%, with no difference in benefit between consonants and vowels. The tactile vocoder with envelope expansion can be deployed in real-time on a compact device and could substantially improve clinical outcomes for a new generation of haptic hearing aids.

Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display.

Skin-slip provides crucial cues about the interaction state and surface properties. Currently, most skin-slip devices focus on two-dimensional tactile slip display and have limitations when displaying surface properties like bumps and contours. In this article, a wearable fingertip device with a simple, effective, and low-cost design for three-dimensional skin-slip display is proposed. Continuous multi-directional skin-slip and normal indentation are combined to convey the sensation of three-dimensional geometric properties in virtual reality during active finger exploration. The device has a tactile belt, a five-bar mechanism, and four motors. Cooperating with the angle-mapping strategy, two micro DC motors are used to transmit continuous multi-directional skin-slip. Two servo motors are used to drive the five-bar mechanism to provide normal indentation. The characteristics of the device were obtained through the bench tests. Three experiments were designed and sequentially conducted to evaluate the performance of the device in three-dimensional surface exploration. The experimental results suggested that this device could effectively transmit continuous multi-directional skin-slip sensations, convey different bumps, and display surface contours.

First clinical application of a surgical robot with haptic force feedback function for thoracic surgery: a case report

First clinical application of a surgical robot with haptic force feedback function for thoracic surgery: a case report

Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception.

The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors affecting the delivery of interpersonal vibrotactile feedback via bracelets. Our results show that low-frequency vibrations elicited through tangential actuation are efficiently transmitted from the wrist to the hand, with amplitude varying based on distance, frequency, and actuation direction. We also found that vibrations transmitted to different locations on the hand can be felt by a second person, with perceptual intensity correlated with oscillation magnitude at the touched location. Additionally, we demonstrate how wrist-interfaced devices can elicit spatial vibration patterns throughout the hand surface, which can be manipulated by the frequency and direction of actuation at the wrist. Our experiments provide important insights into the human factors associated with interpersonal vibrotactile feedback and have significant implications for the design of technologies that promote social well-being.