A comparative analysis of actuator technologies for robotics
The robotics review 2
Operator performance with alternative manual control modes in teleoperation
Presence: Teleoperators and Virtual Environments
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
Supporting presence in collaborative environments by haptic force feedback
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
A 6-DOF user interface for grasping in VR-based computer aided styling and design
Proceedings of the ACM symposium on Virtual reality software and technology
Actuation and tangible user interfaces: the Vaucanson duck, robots, and shape displays
Proceedings of the 1st international conference on Tangible and embedded interaction
Dynamic compensating controller for passive haptic manipulators in teleoperation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robust gaze tracking method for stereoscopic virtual reality systems
HCI'07 Proceedings of the 12th international conference on Human-computer interaction: intelligent multimodal interaction environments
IEEE Transactions on Robotics
Evaluation of force and torque magnitude discrimination thresholds on the human hand-arm system
ACM Transactions on Applied Perception (TAP)
Auditory feedback in haptic collaborative interfaces
International Journal of Human-Computer Studies
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This paper describes experimental studies conducted using a pneumatically driven haptic interface (PHI) system. The PHI is a unilateral exoskeletal device that tracks the motion of the shoulder and elbow. The study was carried out to evaluate the impact of an exoskeletal haptic interface on human perceptional capabilities. A population of twenty subjects participated in a set of experiments that were tailored to assess force sensation, shape perception, and effect of force feedback in task performance. Using Weber fractions, we contrasted the outcome of our force sensation experiments against results reported by psychophysical researchers. The results indicated that the perception of weight (or force magnitude) through the haptic interface was significantly affected for relatively low reference force levels (4.44 N, Weber frac tion 5 0.5). The effect progressively diminished as the force level was increased, and almost matched the natural human capabilities for a reference force level of 18 N (Weber fraction 5 0.06). The haptic shape identification experiments showed that the subjects were able to identify various shapes using the PHI system (1 5 0.3 m reference length, with Weber fraction 5 0.38). This identification, however, was adversely affected by the lack of tactile sensation in the haptic device. The outcome of the force-feedback experiments demonstrated mixed results, an observation that was consistent with experimental studies of other researchers. While force feedback did not affect the time needed to complete the task, the subjects' performance was significantly improved when the experiments involved controlling the thickness of a curve drawn on a pressure-sensitive tablet.