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Haptics Web>WebIndex (24 Nov 2001, PeterThoeny? )Results from Haptics web retrieved at 18:13 (GMT)
Literature Reviews Biofeedback Literature Review Spreadsheet This literature review explores various studies which have used multimodal biofeedback. In particular ...
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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 Needles and other tools using FBG sensors Cryoprobes A potential application for the MRI compatible ...
Fiber Optic Sensorized Tools for Cardiology Applications Public information for the http://www.ifos.com/news detail.asp?news id 48 NIH SBIR Background Cardiac ...
Chapter XX: Force and Tactile Sensors TactileSensorTypes v1a.doc: Slightly revised version 5 Jan 06 Proximity and Proprioceptive Sensing Proprioception Proximity ...
LiJiang 06 Dec 2007 The results in the preceding section indicate that either proportional, amplitude based feedback (ABF) or eventcue feedback (ECF) in response to ...
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 ...
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 order ...
The Sensable Technologies LunchBox contains 3 or 6 Copley model number 303 PWM amplifiers. WillP 21 Oct 2004
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 with ...
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 ...
JasonWheeler 26 Aug 2008 Details to come...
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 to ...
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 ...
Faulhaber Encoder for 1724E006SR http://www.faulhaber group.com/uploadpk/e IE2512 DFF.pdf DC Micromotor 1224...SR http://www.faulhaber group.com/uploadpk/e 1224SR ...
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 in ...
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 ...
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 preliminary ...
We explored the potential for a portable gait retraining system, which provides real time haptic feedback to a user who is occupied with other tasks. We conducted ...
Introduction 11 December 2006 MarkCutkosky The information on this page has been started to provide documentation regarding a prototype for the mobile haptics project ...
Contents: Tactile Communication and Display Systems IEEE ICRA 2006: Wearable Tactile Display Based on Soft Actuator: Igmo Koo , Kwangmok Jung , Jachoon Koo ...
Design and Goals 2 Design Configurations Karen Nesbitt SURI Poster KristenLurie 29 Jul 2010
Starting with the project ToniPakkanen 04 Jan 2011
JukkaRaisamo 18 May 2007 Haptic Sleeve (public abstract) This project aims to lay foundations on a wearable tactile communication device. Although at this point one ...
Overview Haptics for Gait Retraining grows out of the MotionDisplayKAUST project, and focuses on a motion training application of particular clinical importance. This ...
Sensing haptics in motion This project concerns haptic display for active people. Applications include motion training (e.g. for sports) and physical rehabilitation ...
Draft Report for Healthcare Robotics (Okamura, Henriksen, Mataric, eds.) final version to be presented to congress in 2009 contains several passages that speak ...
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 #ShullGaitRetraining2011 P.B. Shull, K.L. Lurie, M.R. Cutkosky, T.F. Besier, Training Multi parameter ...
Literature Review Guidelines (adapted from ME224 ~1990) Organizational Meeting Time 10:00 11:00am on Thursdays Location Bldg. 560 lobby possibly ...
This document describes the experiment and preliminary results shown in our Haptics Symposium 2010 paper. Results also summarized here. Experimental Validation We ...
People involved in the MotionDisplayKAUST project Oussama Khatib Luis Sentis Emel Demircan Samir Menon Scott Delp Mark Cutkosky ...
PeteShull 16 Jul 2010 Human Tracking Frequencies Circuit for Experimental Setup To power the C2 Tactor motors, LM675 power op amps were used (max current 3A). To ...
STTR Immersion Project Overview Detailed Report Reducing Error Rates with Low Cost Haptic Feedback in Virtual Reality Based Training Applications: Several ...
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 vs. skin ...
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 ...
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 game ...
Siegel, D., Garabieta, I., Hollerbach, J., "An Integrated Tactile and Thermal Sensor," Proc. IEEE ICRA 1986, p. 1286 1291 Tactil Sensing : An 8 x 8 array of capacitor ...
We should include some information about the Journal of Biomechanics paper in preparation. KristenLurie 08 Jun 2010
! Haptic Display Design Ideas !! MarkCutkosky 14 Sep 2007
November 2004 FsrCalibration 11/3/04 October 2004 LongTermGoals 10/11/04 PrototypeIINeeds 10/11/04 TestingIdeas 10/11/04 September 2004 TorqueVsDistance ...
KarlinBark 22 Jan 2008
Linear Skin Stretch Unconstrained Force analysis
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 ...
Papers related to motion training/haptic feedback ideas see RefWorksSetup Papers related to "mapping" or illusory haptic feedback see RefWorksSetup
Active MRI compatible Tooling 1. References ActiveNeedleSteering.bib : Updated 04/15/2009 2. Notes number : the order in the list of references. 2.0. To ...
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 to apply ...
"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 ...
Material Candidates for Prototyping Smart Finger Innovative Polymers VA 285 (Off White) Hardness: 85 ± 5D Pot life: 4 ± 1 min, Demold Time: ...
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 ...
Snapshots of whiteboard board1 upper: board1 lower: board2: board3:
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 ...
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 ...
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 ...
Human Motion Tracking and Haptic Display started 14July08 MarkCutkosky The Human Motion Tracking and Haptic Display project was started in June 2008 under a seed grant ...
See MotionDisplayKAUST for a motion training application KarlinBark 13 May 2006
Multi Modal Tactile Sensing See also TactileSensingChapter Goal Achieve a sensory capability that provides an integrated combination of inputs including thermal ...
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. So, I used ...
Mihye Shin will start some stuff here... MarkCutkosky 24 Nov 2008
MarkCutkosky 21 Apr 2008 NSF / CCC / CRA Roadmapping for Robotics Workshop: A Research Roadmap for Medical and Healthcare Robotics Co Chairs: Allison Okamura, Johns ...
see PHANToMs WillP 26 Oct 2004
"PHANToM" Haptic Interface A "PHANToM" is a haptic device sold by Sensable Technologies. (Pictures from Sensable Technologies website) "PHANToMs" are available ...
Pager Motor Specs Purchased from pagermotors.com: http://pagermotors.com/index files/Products/DiskL/DiskL.htm Driving Circuit Encasing Directions Initially: Preparing ...
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 with ...
Proprioception Experiment Outline Abstract Introduction Application/Motivation/etc Background Vibration Skin Stretch ...
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. Create your own ...
New Tests DetectionThreshold MagnitudeEstimation DifferenceThreshold Purpose Applying skin stretch to non glabrous skin to provide haptic feedback ...
Photonic Robot Public information for the http://www.ifos.com/news detail.asp?news id 32 NASA STTR posted here IEEE/ICRA2008 Paper in IEEE ICRA2008 : Fingertip ...
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. Below are ...
Portable Low cost Haptic For Multiple Sclerosis Welcome to the Stanford and Dexterous Manipulation Lab. This page describes a portable low cost haptic feedback device ...
JoanSavall 18 Dec 2007 Current Design Prototype Latest Prototypes Actuators: Ultrasonic Motors Ultrasonic motors appear as a very interesting ...
PeteShull 15 Jun 2009 Hardware Components There are 6 key components to the hardware setup: A) Portable Skin Stretch Device Design details about the portable skin ...
PeteShull 17 Jul 2010 Portable Gait Retraining System Implementation Timeline Wearable Sensor Research Sensor/Goniometer Research Sensors Joystick ...
Portable Haptics System for Gait Retraining Overview This Portable Haptics System is inspired by our Haptics for Gait Retraining Project. The idea is that we want ...
KarlinBark 27 Apr 2005 Here are some results. torquedifferencelimenchart.JPG: displacementdifferencelimenchart.JPG: data.JPG: ...
Prepare Motors 1 Solder pager motor ends to two wired ribbon wire 1 Make sure small heat shrink wrap is on split ends of ribbon wire to be soldered ...
Haptics Presentation Schedule Check the BDML Google Calendar to see what all is going on. Summer 2010, Tuesdays at 10? 6/22 Discuss and Breazeal 2007 ...
Pressure and contact sensing (under construction) The great majority of tactile sensing systems fall into this category. Rather than try to list all of them, we can ...
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 of haptic ...
Project Ideas and Goals NotesForWorkshopJune08 MarkCutkosky 21 Apr 2008
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 ...
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 that ...
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 force ...
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 to just ...
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 to prove ...
why? test setup results
11/08/08 Interview with Dr. Richard Satava. I talked with Dr. Richard Satava, currently a professor in the Department of Surgery at the University of Washington Medical ...
The device utilizes a worm gear and cable drive that is driven by a DC motor and controlled by a Windows PC under the CHAI3D modeling environment. The motor is driven ...
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 rolling and rotational ...
KarlinBark 22 Jan 2008
Rotational Skin Stretch Force Analysis
MarkCutkosky 15 Jul 2008 Sensory and Motor Homunculii attributed to Penfield show the disproportionate regions of the motor cortex associated with the hands. Role ...
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 ...
Skin Stretch This project began as an NSF SGER on Optimizing skin stretch for localized haptic display . Subsequent work has focused on developing wearable rotational ...
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 ...
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 the skin ...
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 displacements ...
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 ...
KarlinBark 21 July 2004 Goals for the test Can humans distinguish between varying skin stretch magnitudes? Specifically, what range of magnitudes can be felt on the ...
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, it was ...
Slippage Detection (Also some related work under Texture Sensing and Display) (under construction) Slippage detection is essential for handling objects securely and ...
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 ...
SolidWorks 1. Make part you want to be cut out of the CNC (the positive) in Solid Works 2. I found using pro E to assemble the wax block confusing, and just used ...
Started 10 Aug 2004, MarkCutkosky Publications Recent web changes Haptics Web sitemap Stanford CDR Haptics Main Page Welcome to the Stanford ...
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 I do ...
KarlinBark 6 Aug 2004 I have been examining accelerometers and encoders that might be used in future experiments. Learned that piezoelectric based accelerometers ...
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 out a ...
Lab System Implementation Motion Capture System Vicon Tutorial Implementation of Feedback Devices C2 Tactors Skin Stretch Device http://www.stanford ...
# 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. Who should read ...
New refs for tactile sensing chapter IEEE ICRA 2006 Conformable and Scalable Tactile Sensor Skin for Curved Surfaces, Yoshiyuki Ohmura, Yasuo Kuniyoshi Department ...
Chapter on Tactile Sensing Co authors: MarkCutkosky, Will Provancher (now at Univ. of Utah) and Robert Howe (at Univ.) Link to springer site: http://www.prisma.unina ...
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 can ...
Portable Multimodal Haptics TampereStanfordSiteMap sitemap of parent/child pages directly under this project homepage. Additional related pages: VibrationImplementation ...
Public sitemap (See TamperePrivateSiteMap for private pages sitemap.) MarkCutkosky 01 Feb 2007
Some initial info on the new project... Note: Some of the links on this page will point to password protected pages. As information is ready for release, pages will ...
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 information ...
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 are ...
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 perceive ...
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 ...
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 symmetric ...
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 ...
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 ...
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 though ...
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 ...
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 a magnitude ...
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 and attempted ...
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 ...
MihyeShin 25 Jun 2009 C2 Tactor ETFE ETFE from Jason's thesis: Implementing Vibration Feedback A 1) Electrical Schematic Design Analog inputs A 2) Circuit ...
Vibration vs. Force Feedback Haptic feedback includes display of forces and vibrations. Vibration primarily stimulates the Pacinian Corpuscles. It is easy ...
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 ...
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" warn "off"}% Publications People Contact Calendar Haptics Topics Wireless display Skin stretch friction Tactile Sensing Contact location ...
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