Abstract
The word haptics, believed to be derived from the Greek word haptesthai, means related to the sense of touch. In the psychology and neuroscience literature, haptics is the study of human touch sensing, specifically via kinesthetic (force/position) and cutaneous (tactile) receptors, associated with perception and manipulation. In the robotics and virtual reality literature, haptics is broadly defined as real and simulated touch interactions between robots, humans, and real, remote, or simulated environments, in various combinations. This chapter focuses on the use of specialized robotic devices and their corresponding control, known as haptic interfaces, that allow human operators to experience the sense of touch in remote (teleoperated) or simulated (virtual) environments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Abbreviations
- CAD:
-
computer-aided design
- EP:
-
exploratory procedures
- FE:
-
finite element
- HD:
-
haptic device
- HIP:
-
haptic interaction point
- HO:
-
human operator
- IEEE:
-
Institute of Electrical and Electronics Engineers
- JND:
-
just noticeable difference
- MEMS:
-
microelectromechanical systems
- NURBS:
-
non-uniform rational B-spline
- RC:
-
radio-controlled
- ROC:
-
receiver operating curve
- SDK:
-
standard development kit
- SMA:
-
shape-memory alloy
References
G.A. Gescheider: Psychophysics: The Fundamentals (Lawrence Erlbaum, New York 1985)
K.B. Shimoga: A survey of perceptual feedback issues in dexterous telemanipulation. I. Finger force feedback, Proc. Virtual Real. Annu. Int. Symp. (1993) pp. 263–270
M.A. Srinivasan, R.H. LaMotte: Tactile discrimination of shape: responses of slowly and rapidly adapting mechanoreceptive afferents to a step indented into the monkey fingerpad, J. Neurosci. 7(6), 1682–1697 (1987)
R.H. LaMotte, R.F. Friedman, C. Lu, P.S. Khalsa, M.A. Srinivasan: Raised object on a planar surface stroked across the fingerpad: Responses of cutaneous mechanoreceptors to shape and orientation, J. Neurophysiol. 80, 2446–2466 (1998)
R.H. LaMotte, J. Whitehouse: Tactile detection of a dot on a smooth surface: peripheral neural events, J. Neurophysiol. 56, 1109–1128 (1986)
R. Hayashi, A. Miyake, H. Jijiwa, S. Watanabe: Postureal readjustment to body sway induced by vibration in man, Exp. Brain Res. 43, 217–225 (1981)
G.M. Goodwin, D.I. McCloskey, P.B.C. Matthews: The contribution of muscle afferents to kinesthesia shown by vibration induced illusions of movement an the effects of paralysing joint afferents, Brain 95, 705–748 (1972)
G.S. Dhillon, K.W. Horch: Direct neural sensory feedback and control of a prosthetic arm, IEEE Trans. Neural Syst. Rehabil. Eng. 13(4), 468–472 (2005)
L.A. Jones: Perception and control of finger forces, DSC (1998) pp. 133–137
S. Lederman, R. Klatzky: Hand movements: a window into haptic object recognition, Cognit. Psychol. 19(3), 342–368 (1987)
R. Klatzky, S. Lederman, V. Metzger: Identifying objects by touch, An `expert systemʼ, Percept. Psychophys. 37(4), 299–302 (1985)
S. Lederman, R. Klatzky: Haptic classification of common objects: Knowledge-driven exploration, Cognit. Psychol. 22, 421–459 (1990)
O.S. Bholat, R.S. Haluck, W.B. Murray, P.G. Gorman, T.M. Krummel: Tactile feedback is present during minimally invasive surgery, J. Am. Coll. Surg. 189(4), 349–355 (1999)
C. Basdogan, S. De, J. Kim, M. Muniyandi, M.A. Srinivasan: Haptics in minimally invasive surgical simulation and training, IEEE Comput. Graphics Appl. 24(2), 56–64 (2004)
P. Strom, L. Hedman, L. Sarna, A. Kjellin, T. Wredmark, L. Fellander-Tsai: Early exposure to haptic feedback enhances performance in surgical simulator training: a prospective randomized crossover study in surgical residents, Surg. Endosc. 20(9), 1383–1388 (2006)
A. Liu, F. Tendick, K. Cleary, C. Kaufmann: A survey of surgical simulation: applications, technology, and education, Presence Teleop. Virt. Environ. 12(6), 599–614 (2003)
R.M. Satava: Accomplishments and challenges of surgical simulation, Surg. Endosc. 15(3), 232–241 (2001)
W.A. McNeely, K.D. Puterbaugh, J.J. Troy: Six degree-of-freedom haptic rendering using voxel sampling, Proc. SIGGRAPH 99 (1999) pp. 401–408
SensAble Technologies: www.sensable.com (Woburn 2007)
Immersion Corporation: www.immersion.com (San Jose 2007)
T.H. Massie, J.K. Salisbury: The phantom haptic interface: A device for probing virtual objects, Proc. ASME Dyn. Syst. Contr. Div., Vol. 55 (1994) pp. 295–299
Novint Technologies: www.novint.com (Albuquerque 2007)
M.C. Cavusoglu, D. Feygin, F. Tendick: A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high-performance control, Presence 11(6), 555–568 (2002)
R.Q. van der Linde, P. Lammerste, E. Frederiksen, B. Ruiter: The HapticMaster, a new high-performance haptic interface, Proc. Eurohaptics Conf. (2002) pp. 1–5
T. Yoshikawa: Manipulability of robotic mechanisms, Int. J. Robot. Res. 4(2), 3–9 (1985)
J.K. Salibury, J.T. Craig: Articulated hands: Force control and kinematics issues, Int. J. Robot. Res. 1(1), 4–17 (1982)
P. Buttolo, B. Hannaford: Pen based force display for precision manipulation of virtual environments, Proc. VRAIS-95 (1995) pp. 217–225
P. Buttolo, B. Hannaford: Advantages of actuation redundancy for the design of haptic displays, Proc. ASME Fourth Annu. Symp. Haptic Interf. Virt. Environ. Teleop. Syst., Vol. DSC-57-2 (1995) pp. 623–630
T. Yoshikawa: Foundations of Robotics (MIT Press, Cambridge 1990)
S. Venema, B. Hannaford: A probabilistic representation of human workspace for use in the design of human interface mechanisms, IEEE Trans. Mechatron. 6(3), 286–294 (2001)
H. Yano, M. Yoshie, H. Iwata: development of a non-grounded haptic interface using the gyro effect, Proc. 11th Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (2003) pp. 32–39
C. Swindells, A. Unden, T. Sang: TorqueBAR: an ungrounded haptic feedback device, Proc. 5th Int. Conf. Multimodal Interf. (2003) pp. 52–59
Immersion Corporation: CyberGrasp – Groundbreaking haptic interface for the entire hand (last accessed 2006) www.immersion.com/3d/products/cyber_grasp.php
C. Richard, M.R. Cutkosky: Contact force perception with an ungrounded haptic interface, 1997 ASME IMECE 6th Annu. Symp. Haptic Interf. (1997)
J.J. Abbott, A.M. Okamura: Effects of position quantization and sampling rate on virtual-wall passivity, TRO 21(5), 952–964 (2005)
S. Usui, I. Amidror: Digital low-pass differentiation for biological signal processing, IEEE Trans. Biomedic. Eng. BME-29(10), 686–693 (1982)
P. Bhatti, B. Hannaford: Single chip optical encoder based velocity measurement system, IEEE Trans. Contr. Syst. Technol. 5(6), 654–661 (1997)
A.M. Okamura, C. Richard, M.R. Cutkosky: Feeling is believing: Using a force-feedback joystick to teach dynamic systems, ASEE J. Eng. Educ. 92(3), 345–349 (2002)
John Hopkins University: http://haptics.jhu.edu/paddle (Baltimore)
C.H. Ho, C. Basdogan, M.A. Srinivasan: Efficient point-based rendering techniques for haptic display of virtual objects, Presence 8, 477–491 (1999)
C.B. Zilles, J.K. Salisbury: A constraint-based god-object method for haptic display, IROS (1995) pp. 146–151
J.E. Colgate, M.C. Stanley, J.M. Brown: Issues in the haptic display of tool use, IROS (1995) pp. 140–145
D. Ruspini, O. Khatib: Haptic display for human interaction with virtual dynamic environments, J. Robot. Syst. 18(12), 769–783 (2001)
A. Gregory, A. Mascarenhas, S. Ehmann, M. Lin, D. Manocha: Six degree-of-freedom haptic display of polygonal models, Proc. Vis. 2000 (2000) pp. 139–146
D.E. Johnson, P. Willemsen, E. Cohen: 6-DOF haptic rendering using spatialized normal cone search, Trans. Vis. Comput. Graphics 11(6), 661–670 (2005)
M.A. Otaduy, M.C. Lin: A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation, IEEE Trans. Vis. Comput. Graphics 22(4), 751–762 (2006)
M.C. Lin, M.A. Otaduy: Sensation-preserving haptic rendering, IEEE Comput. Graphics Appl. 25(4), 8–11 (2005)
T. Thompson, E. Cohen: Direct haptic rendering of complex trimmed NURBS models, 8th Annu. Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (1999)
S.P. DiMaio, S.E. Salcudean: Needle insertion modeling and simulation, IEEE Trans. Robot. Autom. 19(5), 864–875 (2003)
B. Hannaford: Stability and performance tradeoffs in bi-lateral telemanipulation, Proc. IEEE Int. Conf. Robot. Autom., Vol. 3 (1989) pp. 1764–1767
B. Gillespie, M. Cutkosky: Stable user-specific rendering of the virtual wall, Proc. ASME Int. Mech. Eng. Conf. Expo., Vol. DSC-58 (1996) pp. 397–406
R.J. Adams, B. Hannaford: Stable haptic interaction with virtual environments, IEEE Trans. Robot. Autom. 15(3), 465–474 (1999)
B.E. Miller, J.E. Colgate, R.A. Freeman: Passive implementation for a class of static nonlinear environments in haptic display, Proc. IEEE Int. Conf. Robot. Automation (1999) pp. 2937–2942
B.E. Miller, J.E. Colgate, R.A. Freeman: Computational delay and free mode environment design for haptic display, Proc. ASME Dyn. Syst. Cont. Div. (1999)
B.E. Miller, J.E. Colgate, R.A. Freeman: Environment delay in haptic systems, Proc. IEEE Int. Conf. Robot. Autom. (2000) pp. 2434–2439
S.E. Salcudean, T.D. Vlaar: On the emulation of stiff walls and static friction with a magnetically levitated input/output device, ICRA, Vol. 119 (1997) pp. 127–132
P. Wellman, R.D. Howe: Towards realistic vibrotactile display in virtual environments, Proc. 4th Symp. Haptic Interf. Virt. Environ. Teleop. Syst. ASME Int. Mech. Eng. Congress Expo. (1995) pp. 713–718
K. MacLean: The haptic camera: A technique for characterizing and playing back haptic properties of real environments, Proc. 5th Annu. Symp. Haptic Interf. Virt. Environ. Teleop. Syst. ASME/IMECE (1996)
A.M. Okamura, J.T. Dennerlein, M.R. Cutkosky: Reality-based models for vibration feedback in virtual environments, ASME/IEEE Trans. Mechatron. 6(3), 245–252 (2001)
K.J. Kuchenbecker, J. Fiene, G. Niemeyer: Improving contact realism through event-based haptic feedback, IEEE Trans. Vis. Comput. Graphics 12(2), 219–230 (2006)
D.A. Kontarinis, R.D. Howe: Tactile display of vibratory information in teleoperation and virtual environments, Presence 4(4), 387–402 (1995)
J.T. Dennerlein, P.A. Millman, R.D. Howe: Vibrotactile feedback for industrial telemanipulators, Proc. ASME Dyn. Syst. Contr. Div., Vol. 61 (1997) pp. 189–195
A.M. Okamura, J.T. Dennerlein, R.D. Howe: Vibration feedback models for virtual environments, Proc. IEEE Int. Conf. Robot. Autom. (1998) pp. 674–679
R.W. Lindeman, Y. Yanagida, H. Noma, K. Hosaka: Wearable vibrotactile systems for virtual contact and information display, Virt. Real. 9(2-3), 203–213 (2006)
C. Ho, H.Z. Tan, C. Spence: Using spatial vibrotactile cues to direct visual attention in driving scenes, Transp. Res. F Traffic Psychol. Behav. 8, 397–412 (2005)
H.Z. Tan, R. Gray, J.J. Young, R. Traylor: A haptic back display for attentional and directional cueing, Haptics-e Electron. J. Haptics Res. 3(1), 20 (2003)
C2 Tactor: Engineering Acoustic Inc.: www.eaiinfo.com (Casselberry 2007)
W.R. Provancher, M.R. Cutkosky, K.J. Kuchenbecker, G. Niemeyer: Contact location display for haptic perception of curvature and object motion, Int. J. Robot. Res. 24(9), 691–702 (2005)
R.S. Johansson: Sensory input and control of grip, Novartis Foundat. Symp., Vol. 218 (1998) pp. 45–59
K.O. Johnson, J.R. Phillips: A rotating drum stimulator for scanned embossed patterns and textures across the skin, J. Neurosci. Methods 22, 221–231 (1998)
M.A. Salada, J.E. Colgate, P.M. Vishton, E. Frankel: Two experiments on the perception of slip at the fingertip, 12th Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (2004) pp. 472–476
R.J. Webster III, T.E. Murphy, L.N. Verner, A.M. Okamura: A novel two-dimensional tactile slip display: Design, kinematics and perceptual experiment, ACM Trans. Appl. Percept. 2(2), 150–165 (2005)
N.G. Tsagarakis, T. Horne, D.G. Caldwell: SLIP AESTHEASIS: a portable 2D slip/skin stretch display for the fingertip, First Joint Eurohaptics Conf. Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (World Haptics) (2005) pp. 214–219
L. Winfield, J. Glassmire, J. E. Colgate, M. Peshkin: T-PaD: Tactile Pattern Display through Variable Friction Reduction. Second Joint Eurohaptics Conf. Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (World Haptics) (2007) pp. 421-426
K.O. Johnson, J.R. Phillips: Tactile spatial resolution. I. Two-point discrimination, gap detection, grating resolution, and letter recognition, J. Neurophysiol. 46(6), 1177–1192 (1981)
N. Asamura, T. Shinohara, Y. Tojo, N. Koshida, H. Shinoda: Necessary spatial resolution for realistic tactile feeling display, IEEE Int. Conf. Robot. Autom. (2001) pp. 1851–1856
G. Moy, U. Singh, E. Tan, R.S. Fearing: Human psychophysics for teletaction system design, Haptics-e Electron. J. Haptics Res. 1(3) (2000)
W.J. Peine, R.D. Howe: Do humans sense finger deformation or distributed pressure to detect lumps in soft tissue, Proc. ASME Dyn. Syst. Contr. Div. ASME Int. Mech. Eng. Congress Expo., Vol. DSC-64 (1998) pp. 273–278
C.R. Wagner, S.J. Lederman, R.D. Howe: Design and performance of a tactile shape display using RC servomotors, Haptics-e Electron. J. Haptics Res. 3(4) (2004)
K.B. Shimoga: A survey of perceptual feedback issues in dexterous telemanipulation: Part II, Finger touch feedback, Proc. IEEE Virt. Real. Annu. Int. Symp. (1993) pp. 271–279
K.A. Kaczmarek, P. Bach-Y-Rita: Tactile displays. In: Virtual Environments and Advanced Interface Design, ed. by W. Barfield, T.A. Furness (Oxford Univ. Press, Oxford 1995) pp. 349–414
M. Shimojo: Tactile sensing and display, Trans. Inst. Electr. Eng. Jpn. E 122, 465–468 (2002)
S. Tachi: Roles of tactile display in virtual reality, Trans. Inst. Electr. Eng. Jpn. E 122, 461–464 (2002)
P. Kammermeier, G. Schmidt: Application-specific evaluation of tactile array displays for the human fingertip, IEEE/RSJ Int. Conf. Intell. Robot. Syst. Int. Conf. Intell. Robot. Syst. (2002)
S.A. Wall, S. Brewster: Sensory substitution using tactile pin arrays: human factors, technology and applications, Signal Process. 86(12), 3674–3695 (2006)
J.H. Killebrew, S.J. Bensmaia, J.F. Dammann, P. Denchev, S.S. Hsiao, J.C. Craig, K.O. Johnson: A dense array stimulator to generate arbitrary spatio-temporal tactile stimuli, J. Neurosci. Methods 161(1), 62–74 (2007)
R.D. Howe, W.J. Peine, D.A. Kontarinis, J.S. Son: Remote palpation technology, IEEE Eng. Med. Biol. 14(3), 318–323 (1995)
P.S. Wellman, W.J. Peine, G. Favalora, R.D. Howe: Mechanical design and control of a high-bandwidth shape memory alloy tactile display, Exp. Robot. V 232, 56–66 (1998)
V. Hayward, M. Cruz-Hernandez: Tactile display device using distributed lateral skin stretch, Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (ASME IMECE), Vol. DSC-69-2 (2000) pp. 1309–1314
Q. Wang, V. Hayward: Compact, portable, modular, high-performance, distributed tactile transducer device based on lateral skin deformation, 14th Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (2006) pp. 67–72
Q. Wang, V. Hayward: In vivo biomechanics of the fingerpad skin under local tangential traction, J. Biomech. 40(4), 851–860 (2007)
V. Levesque, J. Pasquero, V. Hayward: Braille display by lateral skin deformation with the STReSS2 tactile transducer, Second Joint Eurohaptics Conf. Symp. Haptic Interf. Virt. Environ. Teleop. Syst. (World Haptics) (2007) pp. 115–120
K. Drewing, M. Fritschi, R. Zopf, M.O. Ernst, M. Buss: First evaluation of a novel tactile display exerting shear force via lateral displacement, ACM Trans. Appl. Percept. 2(2), 118–131 (2005)
K.A. Kaczmarek, J.G. Webster, P. Bach-Y-Rita, W.J. Tompkins: Electrotactile and vibrotactile displays for sensory substitution systems, IEEE Trans. Biomed. Eng. 38, 1–16 (1991)
N. Asamura, N. Yokoyama, H. Shinoda: Selectively stimulating skin receptors for tactile display, IEEE Comput. Graphics Appl. 18, 32–37 (1998)
H.-N. Ho, L.A. Jones: Contribution of thermal cues to material discrimination and localization, Percept. Psychophys. 68, 118–128 (2006)
H.-N. Ho, L.A. Jones: Development and evaluation of a thermal display for material identification and discrimination, ACM Trans. Appl. Percept. 4(2), 118–128 (2007)
D.G. Caldwell, C. Gosney: Enhanced tactile feedback (tele-taction) using a multi-functional sensory system, IEEE Int. Conf. Robot. Autom. (1993) pp. 955–960
D.G. Caldwell, S. Lawther, A. Wardle: Tactile perception and its application to the design of multi-modal cutaneous feedback systems, IEEE Int. Conf. Robot. Autom. (1996) pp. 3215–3221
C.G. Burdea: Force and Touch Feedback for Virtual Reality (Wiley Interscience, New York 1996)
M.C. Lin, M.A. Otaduy (Eds.): Haptic Rendering: Foundations, Algorithms, and Applications (AK Peters, Ltd., London 2008)
V. Hayward, K.E. MacLean: Do it yourself haptics, Part-I, IEEE Robot. Autom. Mag. 14(4), 88–104 (2007)
K.E. MacLean, V. Hayward: Do It Yourself Haptics, Part-II. IEEE Robot Autom Mag, to appear (2008 March issue)
V. Hayward, O.R. Astley, M. Cruz-Hernandez, D. Grant, G. Robles-De-La-Torre: Haptic interfaces and devices, Sensor Rev. 24(1), 16–29 (2004)
K. Salisbury, F. Conti, F. Barbagli: Haptic rendering: introductory concepts, IEEE Comput. Graphics Applicat. 24(2), 24–32 (2004)
V. Hayward, K.E. MacLean: A brief taxonomy of tactile illusions and demonstrations that can be done in a hardware store, Brain Res. Bull. (2007)
G. Robles-De-La-Torre: The importance of the sense of touch in virtual and real environments, IEEE Multimedia 13(3), 24–30 (2006)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag
About this entry
Cite this entry
Hannaford, B., Okamura, A.M. (2008). Haptics. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_31
Download citation
DOI: https://doi.org/10.1007/978-3-540-30301-5_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23957-4
Online ISBN: 978-3-540-30301-5
eBook Packages: EngineeringEngineering (R0)