Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
Haptic discrimination of force direction and the influence of visual information
ACM Transactions on Applied Perception (TAP)
Teleoperation with sensor/actuator asymmetry: task performance with partial force feedback
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Influence of force and torque feedback on operator performance in a VR-based suturing task
Applied Bionics and Biomechanics
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Haptic interfaces enable us to interact with virtual objects by sensing our actions and communicating them to a virtual environment. A haptic interface with force feedback capability will provide sensory information back to the user thus communicating the consequences of his/her actions. The quality and complexity of these interactions is dependent on how the interface is designed. When designing a haptic interface, one must choose how many sensors and how many actuators will be used. In particular, we are now seeing interfaces which have more sensors than actuators. This "asymmetry" in sensor/actuator utilization provides for a higher dimensionality of action than sensory feedback. It is a tempting avenue for devices design due to the low cost of introducing more sensors. Yet, while this can enable more rich exploratory interactions, the lack for equal dimensionality in force feedback can lead to interactions which are energetically non-conservative. In this paper we provide a preliminary view of the properties of such "asymmetric" sensor/actuator designs. We address the design and rendering tradeoffs of these systems and introduce a framework for device analysis.