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Full-Text Articles in Mechanical Engineering
Haptography: Capturing And Recreating The Rich Feel Of Real Surfaces, Katherine J. Kuchenbecker, Joseph Romano, William Mcmahan
Haptography: Capturing And Recreating The Rich Feel Of Real Surfaces, Katherine J. Kuchenbecker, Joseph Romano, William Mcmahan
William McMahan
Haptic interfaces, which allow a user to touch virtual and remote environments through a hand-held tool, have opened up exciting new possibilities for applications such as computer-aided design and robot-assisted surgery. Unfortunately, the haptic renderings produced by these systems seldom feel like authentic re-creations of the richly varied surfaces one encounters in the real world. We have thus envisioned the new approach of haptography, or haptic photography, in which an individual quickly records a physical interaction with a real surface and then recreates that experience for a user at a different time and/or place. This paper presents an overview of …
Haptic Displayof Realistic Tool Contact Via Dynamically Compensated Control Of A Dedicated Actuator, William Mcmahan, Katherine J. Kuchenbecker
Haptic Displayof Realistic Tool Contact Via Dynamically Compensated Control Of A Dedicated Actuator, William Mcmahan, Katherine J. Kuchenbecker
William McMahan
High frequency contact accelerations convey important information that the vast majority of haptic interfaces cannot render. Building on prior work, we present an approach to haptic interface design that uses a dedicated linear voice coil actuator and a dynamic system model to allow the user to feel these signals. This approach was tested through use in a bilateral teleoperation experiment where a user explored three textured surfaces under three different acceleration control architectures: none, constant gain, and dynamic compensation. The controllers that use the dedicated actuator vastly outperform traditional position-position control at conveying realistic contact accelerations. Analysis of root mean …
High Frequency Acceleration Feedback Significantly Increases The Realism Of Haptically Rendered Textured Surfaces, William Mcmahan, Joseph M. Romano, Amal M. Abdul Rahuman, Katherine J. Kuchenbecker
High Frequency Acceleration Feedback Significantly Increases The Realism Of Haptically Rendered Textured Surfaces, William Mcmahan, Joseph M. Romano, Amal M. Abdul Rahuman, Katherine J. Kuchenbecker
William McMahan
Almost every physical interaction generates high frequency vibrations, especially if one of the objects is a rigid tool. Previous haptics research has hinted that the inclusion or exclusion of these signals plays a key role in the realism of haptically rendered surface textures, but this connection has not been formally investigated until now. This paper presents a human subject study that compares the performance of a variety of surface rendering algorithms for a master-slave teleoperation system; each controller provides the user with a different combination of position and acceleration feedback, and subjects compared the renderings with direct tool-mediated exploration of …