Haptics
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Contact Location Display
As an alternative to other forms of tactile display, we have investigated the idea of simply displaying the centroid of contacts along with force feedback. In concept this would be analagous to representing contact as if it were a ball bearing moving over the surface of a finger. Details are provided in Kuchenbecker et al. 2004 and Provancher et al. 2003 and in Provancher, et al., "Contact Location Display for Haptic Perception of Curvature and Object Motion," International Journal of Robotics Research, Vol 24, No 9, 2005- Video illustrating contact location display (80 MB Quicktime movie - right click to download)
Contact Location Display concept (General case and planar version of concept)
There have been several incarnations of this device. The current design incorporates a DC motor, push-pull wires and thimble attached to a PHANToM haptic device. 
- location display on Phantom:
William Provancher
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| Attachment: | Action: | Size: | Date: | Who: | Comment: |
|---|---|---|---|---|---|
 ballbearing.jpg | action | 124919 | 20 Oct 2004 - 21:12 | WillP | Contact Location Display concept |
| roller.jpg | action | 166788 | 20 Oct 2004 - 21:13 | WillP | Planar version of concept |
| contactDisplay_web.jpg | action | 158988 | 20 Oct 2004 - 21:22 | WillP | Planar Contact Location Display device design |
 1524_SR.PDF | action | 131485 | 02 Dec 2004 - 00:57 | WillP | Motor used in 1st version of contact display |
| setup.jpg | action | 98196 | 07 Sep 2005 - 15:23 | MarkCutkosky | location display on Phantom |
| VR2004.pdf | action | 1199616 | 07 Sep 2005 - 17:44 | MarkCutkosky | Kuchenbeker et al IEEE VR2004 |
| contact.pdf | action | 2320218 | 07 Sep 2005 - 17:45 | MarkCutkosky | Provancher et al ISRR 03 |
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Revisions: | r1.5 | > | r1.4 | > | r1.3 | Total page history | Backlinks