TWiki > Haptics Web>StanfordHaptics > SkinStretchAndFriction>ContactLocationDisplay (07 Sep 2005, MarkCutkosky)EditAttach

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

Contact Location Display concept (General case and planar version of concept)

ballbearing.jpg roller.jpg

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.
contactDisplay_web.jpg

  • location display on Phantom:
    setup.jpg
Motor datasheet (MicroMo 1524-006SR-IE2-512)

Leadscrew information: Kerk Motion Products -- Mini Series Lead Screws BF2000, 0.075 in/rev lead

-- WillP? - 20 Oct 2004
William Provancher

Attachments Attachments
Topic attachments
I Attachment Action Size Date Who Comment
pdfPDF 1524_SR.PDF manage 128.4 K 02 Dec 2004 - 00:57 WillP? Motor used in 1st version of contact display
pdfpdf VR2004.pdf manage 1171.5 K 07 Sep 2005 - 17:44 MarkCutkosky Kuchenbeker et al IEEE VR2004
jpgjpg ballbearing.jpg manage 122.0 K 20 Oct 2004 - 21:12 WillP? Contact Location Display concept
pdfpdf contact.pdf manage 2265.8 K 07 Sep 2005 - 17:45 MarkCutkosky Provancher et al ISRR 03
jpgjpg contactDisplay_web.jpg manage 155.3 K 20 Oct 2004 - 21:22 WillP? Planar Contact Location Display device design
jpgjpg roller.jpg manage 162.9 K 20 Oct 2004 - 21:13 WillP? Planar version of concept
jpgjpg setup.jpg manage 95.9 K 07 Sep 2005 - 15:23 MarkCutkosky location display on Phantom
Topic revision: r5 - 07 Sep 2005 - 18:00:00 - MarkCutkosky
 
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