Skip to topic | Skip to bottom
Haptics
Haptics > StanfordHaptics > SkinStretchAndFriction > ContactLocationDisplay
Haptics.ContactLocationDisplayr1.5 - 07 Sep 2005 - 18:00 GMT - MarkCutkoskytopic end

Start of topic | Skip to actions

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
to top

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


You are here: Haptics > StanfordHaptics > SkinStretchAndFriction > ContactLocationDisplay

to top

Copyright © 1999-2003 by the contributing authors. All material on this collaboration platform is the property of the contributing authors.
Ideas, requests, problems regarding TWiki? Send feedback.