Name
Abstract | ||
|---|---|---|
Softness and texture high-frequency information represent fundamental haptic properties for every day life activities and environment tactual exploration. While several displays have been produced to convey either softness or high-frequency information, there is no or little evidence of systems that are able to reproduce both these properties in an integrated fashion. This aspect is especially crucial in medical tele-operated procedures, where roughness and stiffness of human tissues are both important to correctly identify given pathologies through palpation (e.g. in tele-dermatology). This work presents a fabric yielding display (FYD-pad), a fabric-based tactile display for softness and texture rendering. The system exploits the control of two motors to modify both the stretching state of the elastic fabric for softness rendering and to convey texture information on the basis of accelerometer-based data. At the same time, the measurement of the contact area can be used to control remote or virtual robots. In this paper, we discuss the architecture of FYD-pad and the techniques used for softness and texture reproduction as well as for synthesizing probe-surface interactions from real data. Tele-operation examples and preliminary experiments with humans are reported, which show the effectiveness of the device in delivering both softness and texture information. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/WHC.2015.7177690 | 2015 IEEE World Haptics Conference (WHC) |
Keywords | Field | DocType |
texture rendering,high-frequency information,haptic properties,medical tele-operated procedures,human tissue stiffness,human tissue roughness,palpation,tele-dermatology,fabric yielding display,fabric-based tactile display,motor control,stretching state,elastic fabric,softness rendering,texture information,accelerometer-based data,contact area measurement,remote robot control,virtual robot control,FYD-pad architecture,softness reproduction,texture reproduction,probe-surface interaction synthesis | Computer vision,Accelerometer,Computer science,Image texture,Motor control,Tactile display,Artificial intelligence,Robot,Rendering (computer graphics),Telerobotics,Haptic technology | Conference |
Citations | PageRank | References |
1 | 0.37 | 17 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Matteo Bianchi | 1 | 276 | 47.56 |
| Mattia Poggiani | 2 | 14 | 1.95 |
| Alessandro Serio | 3 | 134 | 8.56 |
| Antonio Bicchi | 4 | 4104 | 387.23 |