-- MarkCutkosky - 21 Feb 2007

21 Feb Agenda:

Introductions

Present: (SU) Jason, Karlin, Li, Mark C. and Alan Sledd who is helping Li on the "haptic device" design.
(Tampere) Roope, Veikko, Arto, Jani, Jukka, Jussi

Status of various projects

1. Jason -- 3 subjects so far on new treadmill. Looking at 3 more in next couple of days. Similar results for both tactor devices. Now doing more with the EAI tactor and looking at ramp input. Press button when stimulus first detected. Tactors attached on arm above elbow and leg above knee. Also measuring accelerations directly for reference. Other body parts? -- Not yet, as the experiments are already fairly long per subject. Will examine later.

Tampere -- looking at standardized amplifiers. Are you using a linear current amplifier? Audio amplifier? --- Using sound card settings. Jason - using direct D/A converter and linear current amplifier (standard force control setup).

Sound card approach -- will require some calibration and setting levels but should give good control.

Jason - to send data about accelerometer & info. to correlate current/voltage/force behavior.

Microphone during bicycling, vocal response to stimulus. Might be faster response than motor->button push. Decision-making in feedback path? If have more than one tactor (where & when).

2. Haptic Ball prototype and related developments.

http://bdml.stanford.edu/twiki/bin/viewauth/Private/Haptics.HapticBall

login = TauchiUsers? ; password = (what we sent you earlier)

Time frame -- prototype (we hope) ready for experiments with haptic feedback in ~1 month.

Force feedback or other feedback? Vibration feedback and perhaps also skin stretch added later.

Polar device arrived at Stanford yesterday.

3. Karlin -- data analysis on reaction time experiments. Some statistically significant results to indicate that changes in magnitude of stimulus (number of degrees) was correlated with speed of response. However, some questions from Stanford side regarding controller tracking accuracy with variable load so need to re-examine this & perhaps repeat with modified control algorithm.

Tampere -- Grigori's haptic bar. (See attached PDF file on shared Haptic Bar experiment: Haptic-bar-experiment.pdf

4. Study gathering results. We (SU) could talk with them direction. Maybe Li would be a good person to initiate that dialog from here. Well send their email.

In the background some other work on investigating optical sensing for haptic devices. If it proves relevant we will incorporate it...

Tampere -- starting some other new projects and if relevant may discuss next time.

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Project Meeting in August -- So far, August is pretty flexible at Stanford end. Week of 20th or 13th of August. Also meet with business partners at that time.

Maybe choose 16th, 17th August for meeting.

Possible other visits correlated with the event.

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Li's possible visit to Tampere -- in August? Still trying to plan. Would be useful if could overlap with the visit of Cutkosky &.

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Jukka - visa & information. Sunday april 29, leave wed 25 July. (3 months). We should see what wecan do to help with housing. Family with him in July.

World Haptics? be nice goal to have something for the next one. Eurohaptics. Sometimes is combined.

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IRB prototocol -- 1st draft -- asked for research plans in more detail.

Would it help to send them a copy of Jason's report (from January)?

Short term -- try to get approvals one-by-one for rather specific experiments and get "modification approvals" as we go.