Arm Twister Skin Stretch Project Skin stretch can be applied to a person's arm by twisting in opposite directions, in a manner similar to indian burns that kids do ...
Arm Twister2 Arm Twister with two belts After exploring arm twisters with a single timing belt, we thought it would be better to look into the two belt option. An ...
MRI-compatible Haptics: Deflection and Force Sensing of Biopsy Needle using FBG sensors ISMRM 2008 Y-L. Park, S. Elayaperumal, B.L. Daniel, E. Kaye, K.B. Pauly, R ...
Fiber Optic Sensorized Tools for Cardiology Applications Public information for the http://www.ifos.com IFOS / StanfordHaptics BDML http://www.ifos.com/news detail ...
Chapter XX: Force and Tactile Sensors U ATTACHURL /TactileSensorTypes v1a.doc TactileSensorTypes v1a.doc : Slightly revised version 5 Jan 06 TOC Proximity and Proprioceptive ...
-- Main.LiJiang 06 Dec 2007 The results in the preceding section indicate that either proportional, amplitude-based feedback (ABF) or eventcue feedback (ECF) in response ...
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 ...
Main.KarlinBark 10 Aug 2005 We're using an MP-LAB compiler to program a PIC18F4431 microcontroller, that's used to control the rotation of the device. Note: In ...
Design Concept of Smart Finger Figure 1(a) shows the 3-D model of the first prototype and its dimensions. The prototype is a cylindrical exoskeletal robot finger ...
Purpose There seems to be a region of skin stretch where it is undetectable. From our proprioception experiments, there appeared to be a "deadband" of rotational ...
-- Main.LiJiang 06 Dec 2007 Experiment Procedure For patients who have one limb that is more impaired than the other, there is an opportunity to provide haptic feedback ...
-- Main.LiJiang 06 Dec 2007 Experiment Results Metrics The primary metric chosen for the experiments was the degree to which subjects could achieve an even distribution ...
Main.LiJiang 06 Dec 2007 Force Sensor Design Lowcost point contact force sensors (FSS1500NST, Honeywell Inc.) are used to build the force plate. They are embedded ...
-Tried to implement FSR's onto the device so we could measure the normal force applied to the arm. Tried calibrating FSR's, hooked up to a voltage divider and measured ...
Main.KarlinBark 09 Aug 2005 Here is a CAD drawing of the device we're using to apply a rotational skin stretch to a user's arm/hand. The device is intended for ...
Introduction 11 December 2006 Main.MarkCutkosky The information on this page has been started to provide documentation regarding a prototype for the mobile haptics ...
Contents: TOC Tactile Communication and Display Systems IEEE ICRA 2006: Wearable Tactile Display Based on Soft Actuator: Igmo Koo+, Kwangmok Jung+, Jachoon Koo+, Jea ...
-- Main.JukkaRaisamo 18 May 2007 Haptic Sleeve (public abstract) This project aims to lay foundations on a wearable tactile communication device. Although at this ...
Sensing haptics in motion Welcome to the Stanford wiki that explores haptic display for active people. http://bdml.stanford.edu/touch Biomimetics and Dexterous Manipulation ...
Haptics Pictures A collection of recent haptics research images from Cutkosky haptics lab at Stanford University. The images at right show an exoskeletal device designed ...
BDML Haptics Group Publications and Presentations Publications Y-L. Park, S. Elayaperumal, B.L. Daniel, E. Kaye, K.B. Pauly, R.J. Black, and M.R. Cutkosky, ATTACHURL ...
LitReviewGuid Literature Review Guidelines (adapted from ME224 ~1990) Organizational Meeting Time 10:00-11:00am on Thursdays Location http://www-cdr.stanford.edu ...
People involved in the MotionDisplayKAUST project Oussama Khatib Luis Sentis . Scott Delp Mark Cutkosky Jason Wheeler Pete Shull Gayle Lee Thor Besier User Main.HumanMotion ...
Main.KarlinBark 29 July 2004 I worked on developing a JND test for skin stretch earlier this week. Although I talked about doing a comparison test of vibration ...
Initial Prototypes: 1. Big rings The idea was to transpose the current rotational skin stretch device into a wearable device that encirles the entire arm. The end ...
Main.KarlinBark 26 April 2004 Research Notes: What is the purpose of this project? A common method of providing haptic feedback to users is using vibration. Video ...
Siegel, D., Garabieta, I., Hollerbach, J., " ATTACHURL /IntegratedTactilThermalSensor.pdf An Integrated Tactile and Thermal Sensor ," Proc. IEEE ICRA 1986, p. 1286 ...
Paper Review Suggestions Discussion In preparing to present the paper, read it over a few times and keep the following points in mind: 1 What is the underlying concept ...
Papers related to motion training/haptic feedback ideas see Admin.RefWorksSetup Papers related to "mapping" or illusory haptic feedback see Admin.RefWorksSetup
-- Main.KarlinBark 11 Oct 2004 Just to summarize for my own sake, things that need to be done. 1. Torque vs. Displacement? What is the method that should be used ...
"LunchBox" is a nicname given to the amplifier box that used be sold with PHANToMs that interfaced with a PC via ISA or PCI cards (current PHANToMs interface with ...
Matlab xPC Getting Started The purpose of this page is to give a brief description of how to get the Mathwork's xPC system up and running. The help and demos on the ...
Current Work: TimingBelts On order from Stock Drive received 5/9/07 Maybe cast a mold/part out of silicone or polyurethane 5/10/07 How to attach silicone to stuff ...
Main.KarlinBark 30 July 2004 I re-organized the 5 N difference threshold test to include a wider range of comparison forces applied to stretch the skin on the forearm ...
Main.KarlinBark 23 July 2004 More testing... Questions to ask the test subject: Number correct on arm 1. 16/18 2. 11/18 3. 16/18 4. 17/18 5. 18/18 6. 14/18 Number ...
Human Motion Tracking and Haptic Display started 14July08 Main.MarkCutkosky The Human Motion Tracking and Haptic Display project was started in June 2008 under a ...
Multi-Modal Tactile Sensing M See also TactileSensingChapter Goal Achieve a sensory capability that provides an integrated combination of inputs including thermal ...
-- Main.SeokchangRyu 14 Feb 2007 I will explain how to run multi processes with a simple example. This example comes from the source code of Dexter arm controller ...
-- Main.MarkCutkosky 21 Apr 2008 NSF / CCC / CRA Roadmapping for Robotics Workshop: A Research Roadmap for Medical and Healthcare Robotics Co-Chairs: Allison Okamura ...
"PHANToM" Haptic Interface A http://www.sensable.com/images/products/Large 20Premium 201.0.jpg "PHANToM" is a haptic device sold by http://www.sensable.com/ Sensable ...
Main.KarlinBark 7 July 2004 SO...what do all those papers and research on skin stretch mean for us? Skin stretch seems to provide adequate response in humans, and ...
Pulleys: MXL Timing belt pulleys 2.03 mm pitch for 6 mm belts Max Diameter 22 D2 17.6 part number A6M16M028DF008 Price $3.02 In stock NEED 2 Belts MXL Timing belts ...
!PatternSkinPalette This page gives an overview of the colors used by PatternSkin and describes where to change them to create your own style. TOC{title "Page contents ...
New Tests DetectionThreshold MagnitudeEstimation DifferenceThreshold Purpose Applying skin stretch to non-glabrous skin to provide haptic feedback is relatively new ...
Photonic Robot Public information for the http://www.ifos.com IFOS / StanfordHaptics BDML http://www.ifos.com/news detail.asp?news id 32 NASA STTR posted here IEEE ...
-- Main.KarlinBark 06 Jul 2005 Earlier, we were applying skin stretch using two contact points, but we wanted to test different methods of applying skin stretch. ...
Portable Low-cost Haptic For Multiple Sclerosis Welcome to the Stanford http://bdml.stanford.edu/touch Biomimetics and Dexterous Manipulation Lab . This page describes ...
-- Main.JoanSavall 18 Dec 2007 Current Design Prototype Latest Prototypes Actuators: Ultrasonic Motors Ultrasonic motors appear as a very interesting technology for ...
Main.KarlinBark 27 Apr 2005 Here are some results. torquedifferencelimenchart.JPG: displacementdifferencelimenchart.JPG: data.JPG: ATTACHURL /pilot data torque ...
Haptics Presentation Schedule Fall 2007 11/15 Jason 11/29 Li 12/6 Seok Chang 12/13 Summer 2007 7/5 Vincent (Thursday meeting due to holiday) 7/11 Jukka/Jason ...
Pressure and contact sensing X (under construction) The great majority of tactile sensing systems fall into this category. Rather than try to list all of them, we ...
Main.KarlinBark 28 June 2004 Progress: Currently catching up and reading research papers to understand what is out there, what has been done and tried. Summary ...
Why Skin Stretch? Why are we focusing on applying skin stretch to provide haptic feedback? Other common methods of haptic feedback are vibration and force feedback ...
Though the objective of our project is to enhance the realism of virtual interactions by adding the sensations of skin stretch and friction to our current setup that ...
Prototype 1 Based on the design concept, an exoskeletal robot finger with honeycomb pattern skin structure has been designed and fabricated as a first prototype based ...
Prototype 2 The first prototype has already confirmed the feasibility of the 3-D exoskeletal robot finger structure with an embedded FBG sensor as shown in the first ...
Prototype 3 The second prototype has confirmed the feasibility of copper mesh and temperature compensation sensor embedment in the 3-D exoskeletal robot finger structure ...
Prototype 4 Design and Fabrication improvement One critical limitation to embed multiple FBG sensors which the previous prototype showed was high optical loss from ...
Main.KarlinBark 25 Aug 2004 Finally constructed a device that can apply a rotating skin stretch to a person's arm. It is simply a motor attached to a pulley system ...
Main.KarlinBark 11 Oct 2004 Stuff that needs to be accomplished for the next design 1) Introduce adjustable height to the device. We need to keep track of the normal ...
Main.KarlinBark 16 July 2004 Purchased two spring scales- will use them hopefully for pilot test on skin stretch magnitude sensing ability of humans. The idea is ...
Main.KarlinBark 5 Aug 2004 Well after further thinking...some more questions have risen... The vibration vs. skin stretch issue is a bit more complex and harder ...
The device utilizes a worm gear and cable drive that is driven by a DC motor and controlled by a Windows PC under the http://robotics.stanford.edu/~barbagli/projects ...
Deduction about the Maxon motor that we're using on the RotationalFrictionDisplay (we found the motors "around the lab"). The Motor is probably 118458 (stall torque ...
Early research in the area dexterous manipulation revealed that in-hand manipulation is primarily composed of rolling and rotational sliding http://www.ai.mit.edu ...
-- Main.MarkCutkosky 15 Jul 2008 Sensory and Motor Homunculii attributed to http://en.wikipedia.org/wiki/Wilder Penfield Wilder Penfield show the disproportionate ...
Steps for setting up the demo 1. cd /klab/stretch 2. make start 3. Keep the phantom in the calibration angle(from step 4-9) 4. make insertC 5. ./peri 6. ./friction ...
Here is a photo of the latest silicone based skin stretch end effector. They're oval shaped to emulate a finger pad stretching the skin. pros cons less slipping than ...
NSF SGER skin stretch Welcome to the Stanford wiki for the SGER: Optimizing skin stretch for localized haptic display project at the Stanford http://bdml.stanford ...
Perception of Skin Stretch and Friction This project is being worked on by Stanford Ph.D. candidate, Suresh Sainath, with project collaborators Gunter Niemeyer, Mark ...
Main.KarlinBark 9 July 2004 The question Mark has posed is, what's more effective when it comes to skin stretch intensity, applying different forces to stretch ...
Main.KarlinBark 6 July 2004 Reading some papers on tangential forces vs. normal forces applied to the human skin- Biggs, Srinivasan from MIT,tangential versus normal ...
Skin Stretch Strain Tests with a benchtop skin stretch apparatus are being conducted to characterize skin stretch as a tactile display method suitable for wireless ...
Main.KarlinBark 21 July 2004 Goals for the test Can humans distinguish between varying skin stretch magnitudes? Specifically, what range of magnitudes can be felt ...
Main.KarlinBark 1 July 2004 Skin stretching- Perhaps it's a better way to go? While just doing some preliminary testing to see what skin stretch would fee like ...
Slippage Detection (Also some related work under TextureDisplayLinks Texture Sensing and Display ) X (under construction) Slippage detection is essential for handling ...
Finding a motor for the Arm Twister Torque/Force I found the amount of tangential force needed on the arm band by pulling on the velcro with a spring scale; 2 N ...
-- Started 10 Aug 2004, Main.MarkCutkosky Stanford CDR Haptics Main Page Welcome to the Stanford wiki for the http://bdml.stanford.edu/touch Dexterous Manipulation ...
-- Main.KarlinBark 27 Sep 2004 I'm trying to figure out whether or not we should pursue current-controlled testing or distance. The problem I am running into is that ...
-- Main.KarlinBark 6 Aug 2004 I have been examining accelerometers and encoders that might be used in future experiments. Learned that piezoelectric based accelerometers ...
-- Main.KarlinBark 26 Jul 2005 August 8, edit I've also tried using other methods of suction. Using compressed air to create light suction, and just manually trying ...
TOC STARTINCLUDE # Appendix B: TWiki CSS Listing of CSS class names emitted from TWiki core code and standard plugins, for the 01-Aug-2004 TWiki production release ...
New refs for tactile sensing chapter IEEE ICRA 2006 ATTACHURL /Ohmura-ICRA06.pdf Conformable and Scalable Tactile Sensor Skin for Curved Surfaces , Yoshiyuki Ohmura ...
Chapter on Tactile Sensing Co-authors: Main.MarkCutkosky, Main.WillP Will Provancher (now at http://www.mech.utah.edu/~wil/ Univ. of Utah ) and Robert Howe (at http ...
Project Abstract This projects sets out to develop and test new tactile displays for multi-user interaction. The displays will consist of wireless "tactors" that ...
Some initial info on the new project... COMMENT Note: Some of the links on this page will point to password-protected pages. As information is ready for release, pages ...
-- Main.KarlinBark 11 Oct 2004 So I spoke with Professor Tan who is visiting from Purdue last week about the different testing options that are available to get the ...
Main.KarlinBark 22 July 2004 Ok, purchased more spring scales that work correctly, and have metric measurements on them. I am trying to decide what range of forces ...
Tactile Sensing and Display for Texture Preamble: A reasonable starting point is to look at the psychophysics literature on "What is texture?" That is, how do we ...
The Findings Figure A shows the fraction of stimuli that were detected while standing, walking and jogging by 8 normal subjects with a vibrotactile stimulator placed ...
Main.LiJiang 06 Dec 2007 The portable low-cost haptic device As discussed in the previous section. Usually the sensory reduction on the upper extremities is not ...
The Procedure In initial experiments, vibration waveforms, durations and frequencies will be determined empirically for each device and held constant. The amplitude ...
The Setup A test apparatus and protocol have been developed and human subject experiemnts are underway. In a first set of experiments, two kinds of vibrational haptic ...
Thermal conductivity and diffusivity of an object/material, rather than the absolute temperature, has often been utilized as a means of tactile sensing. One of the ...
using integral heating elements and thermistors Russell88 . Caldwell and Monkman Caldwell92, Monkman93 have used Thermo-electric coolers (TECs) also known as Peltier ...
Making Timing Belts Our current design for a skin stretch device uses a belt that wraps around a subject's arm (very similar to Grigori's device in Tampere). The ...
Main.KarlinBark 29 Sep 2004 The more I think about it...the more appealing it seems to use torque control. Torque and distance of skin stretch are closely related ...
At larger angles of rotational skin stretch, it starts to hurt, mainly in the form of a pinching sensation. The idea was to make end effectors that would be stiff ...
Main.KarlinBark 15 July 2004 Hm. Talked with Li yesterday in depth about what we should do next. Concerns he had were that it wasn't even necessary to complete ...
-- Main.KarlinBark 21 Aug 2006 I was using a couple of old IBM trackpoint (mouse) sensors to use as a 2 axis force sensor. I built a structure to house the sensor ...
Using some skin safe adhesive tape, True Tape, I stuck some pieces of tape to the end effector and tested how well it would stretch the skin. One major benefit that ...
Vibration vs. Force Feedback Haptic feedback includes display of forces and vibrations. Vibration primarily stimulates the Pacinian Corpuscles. It is easy to implement ...
Instructions for the Web Camera at Stanford Webcam is located in the Biomimetics/DML Conf room. Attached to 'markspc' To view the video from remote location IP number ...
TWIKIWEB .WelcomeGuest: TWiki is a flexible, powerful, secure, yet simple web-based collaboration platform. Use TWiki to run a project development space, a document ...
WebLeftBar Cookbook Instructions and tips how to use WebLeftBarPersonalTemplate . !WebLeftBarPersonalTemplate is a topic template to create a personal left bar block ...
INCLUDINGWEB Web HOMETOPIC INCLUDINGWEB Web Home WebChanges Changes WebIndex Index WebSearch Search Webs WEBLIST{" $name. HOMETOPIC $name " separator ""} INCLUDE ...
Customise this topic; samples and ideas available at TWiki:TWiki.WebLeftBarCookbook. STARTINCLUDE My links Main. USERNAME My home page edit STOPINCLUDE
Koala Skin generator, v2.13 Create a Topic named WebList in web Main, and edit it to paste this: List of all Webs For the Plugins.KoalaSkin Note If you change this ...
This is a subscription service to be automatically notified by e-mail when topics change in this Haptics web. This is a convenient service, so you do not have to come ...
TWiki.Haptics Web Preferences The following settings are web preferences of the TWiki.Haptics web. These preferences overwrite the site-level preferences in TWIKIWEB ...
TWiki's Haptics web SCRIPTURL /view SCRIPTSUFFIX /Haptics The web for users, groups and offices. TWiki is a Web-Based Collaboration Platform for the Corporate World ...
Statistics for Haptics Web Month: Topic views: Topic saves: File uploads: Most popular topic views: Top contributors for topic save and uploads: Jan 2006 4885 38 ...
# TWiki Shorthand Basics If you can enter text, you're ready for TWiki. With a few simple, intuitive TextFormattingRules, you'll be able to use plain text to create ...
This page provides online help for new users of TWiki, when editing a page the area between the horizontal lines is included just below the text input area. You can ...