Abstract
This study investigated the perceptual characteristics of pulsive brakes presented by passive haptic interfaces. A passive-type haptic interface based on the damping brake of a DC motor was used to generate impact; this has merits of inherent safety and energy efficiency. This haptic interface expresses impacts by resisting the operator’s hand via the resistive force generated by a damping brake. In terms of impulse or momentum, maximum impact was achieved by continuously operating the damping brake after colliding with a virtual object. We found that instantaneous release of the brake immediately after collision increases the perceived impact. We computed several physical indices associated with the force against the hand as well as the hand velocity and investigated their relationships with the perceived magnitudes of the impacts. A high correlation was found between the absolute change ratio of the hand velocity and the perceived impact, which suggests that instantaneously releasing the brake is effective in terms of impact perception. Our findings indicate that the performance of passive haptic interfaces can extend physical limits, and the range of applications can be expanded by incorporating human perceptual characteristics.
Similar content being viewed by others
Notes
For example, some feel a moderate collision with a deformable object.
We stopped using a FET because of its leak current.
References
Asbeck AT, De Rossi SM, Holt KG, Walsh CJ (2015) A biologically inspired soft exosuit for walking assistance. Int J Robot Res 34(6):744–762
Burke D, Hagbarth KE, Löfstedt L, Wallins BG (1976) The responses of human muscle spindle endings to vibration of non-contracting muscles. J Physiol 261:673–693
Constantinescu D, Salcudean SE, Croft EA (2005) Haptic rendering of rigid contacts using impulsive and penalty forces. IEEE Trans Robot 21(3):309–323
Culbertson H, Kuchenbecker KJ (2017) Importance of matching physical friction, hardness, and texture in creating realistic haptic virtual surfaces. IEEE Trans Haptics 10(1):63–74
Davis H, Book W (1997) Torque control of a redundantly actuated passive manipulator. Proc Am Control Conf 2:959–963
Fiene JP, Kuchenbecker KJ (2007) Shaping event-based haptic transients via an improved understanding of real contact dynamics. In: IEEE world haptics conference. IEEE, pp 170–175
Goswami A, Peshkin MA, Colgate JE (1990) Passive robotics: an exploration of mechanical computation. In: Proceedings of the IEEE international conf robotics and automation, pp 279–284
Hachisu T, Kajimoto H (2017) Vibration feedback latency affects material perception during rod tapping interactions. IEEE Trans Haptics 10(2):288–295
Han G, Choi S (2010) Extended rate-hardness: a measure for perceived hardness. In: Haptics: generating and perceiving tangible sensations: international conference, EuroHaptics 2010. Springer, pp 117–124
Hauser SC, Gerling GJ (2018) Force-rate cues reduce object deformation necessary to discriminate compliances harder than the skin. IEEE Trans Haptics 11(2):232–240
Higashi K, Okamoto S, Yamada Y (2016) What is the hardness perceived by tapping? In: Human haptic sensing and touch enabled computer applications. Springer, pp 3–12
Higashi K, Okamoto S, Yamada Y (2018) Perceived hardness through actual and virtual damped natural vibrations. IEEE Trans Haptics 11:646–651
Higashi K, Okamoto S, Yamada Y, Nagano H, Konyo M (2019) Hardness perception based on dynamic stiffness in tapping. Front Psychol 9:2654
Hirata Y, Hara A, Kosuge K (2007) Motion control of passive intelligent walker using servo brakes. IEEE Trans Robot 23(5):981–990
Hwang JD, Williams MD, Niemeyer G (2004) Toward event-based haptics: rendering contact using open-loop force pulses. In: Proceedings of the IEEE haptics symposium, pp 24–31
Ikeda Y, Hasegawa S (2009) Characteristics of perception of stiffness by varied tapping velocity and penetration in using event-based haptic. In: Proceedings of 15th joint virtual reality eurographics conference on virtual environments, pp 113–116
Kikuchi T, Tanida S, Otsuki K, Kakehashi T, Furusho J (2009) Development of intelligent ankle-foot orthosis (i-AFO) with MR fluid brake and control system for gait control. In: Proceedings of international conference on machine automation, pp 75–80
Koyama T, Yamano I, Takemura K, Maeno T (2002) Multi-fingered exoskeleton haptic device using passive force feedback for dexterous teleoperation. In: Proceedings of IEEE/RSJ international conference of intelligent robotics and systems, pp 2229–2234
Kuchenbecker KJ, Fiene J, Niemeyer G (2006) Improving contact realism through event-based haptic feedback. IEEE Trans Vis Comput Graph 12(2):219–230
Lawrence DA, Pao LY, Dougherty AM, Salada MA, Pavlou Y (2000) Rate hardness: a new performance metric for haptic interfaces. IEEE Trans Robot Autom 16(4):357–371
Lim T, Ritchie JM, Dewar RG, Corney JR, Wilkinson P, Calis M, Desmulliez M, Fang JJ (2007) Factors affecting user performance in haptic assembly. Virtual Real 11(4):241–252
McMahan W, Kuchenbecker KJ (2009) Haptic display of realistic tool contact via dynamically compensated control of a dedicated actuator. In: Proceedings of the IEEE/RSJ international conference on intelligent robotics and systems, pp 3170–3177
Mehling JS, Colgate JE, Peshkin MA (2005) Increasing the impedance range of a haptic display by adding electrical damping. In: First joint eurohaptics conference and symposium on haptic interfaces for virtual environment and teleoperator systems. IEEE, pp 257–262
Minsky M, Ming OY, Steele O, Brooks Jr FP, Behensky M (1990) Feeling and seeing: issues in force display. In: Proceedings of the 1990 ACM SIGGRAPH computer graphics, vol 24, pp 235–241
Ohashi K, Akiyama Y, Okamoto S, Yamada Y (2017) Development of a string-driven walking assist device powered by upper body muscles. In: Proceedings of the IEEE international conference systems, man, and cybernetics. IEEE, pp 1411–1416
Okada T, Okamoto S, Yamada Y (2016a) Impulsive resistance force generated using pulsive damping brake of DC motor. In: Proceedings of the IEEE international conference systems, man, cybernetics, pp 2359–2363
Okada T, Okamoto S, Yamada Y (2016b) Passive haptics: pulsive damping brake for greater impulse perception. In: Haptic interaction: science, Eng. and design. Lecture Notes in Electrical Eng., vol 432, pp 211–216
Okada T, Okamoto S, Yamada Y (2017) Passive haptics: variable asperity by using damping brake of DC motor. In: Proceedings of the IEEE global conference consumer electronics, pp 318–319
Okada T, Okamoto S, Yamada Y (2018) Discriminability of virtual roughness presented by a passive haptic interface. Trans Hum Interface Soc 20(2):205–208
Okamura AM, Cutkosky MR, Dennerlein JT (2001) Reality-based models for vibration feedback in virtual environments. IEEE/ASME Trans Mechatron 6(3):245–252
Scheffe H (1952) An analysis of variance for paired comparisons. J Am Stat Assoc 47:381–400
Scilingo EP, Sgambelluri N, De Rossi D, Bicchi A (2003) Haptic displays based on magnetorheological fluids: design, realization and psychophysical validation. In: Proceedings of the IEEE haptics symposium, pp 10–15
Seth A, Vance JM, Oliver JH (2011) Virtual reality for assembly methods prototyping: a review. Virtual Real 15(1):5–20
Vander Poorten EB, Yokokohji Y (2007) Feeling a rigid virtual world through an impulsive haptic display. Adv Robot 21(12):1411–1440
Wellman P, Howe RD (1995) Towards realistic display in virtual environments. In: Proceedings of the ASME dynamic systems and control division, vol 57, pp 713–718
Winter SH, Bouzit M (2007) Use of magnetorheological fluid in a force feedback glove. IEEE Trans Neural Syst Rehab Eng 15(1):2–8
Wu CM, Hsu CW, Lee TK, Smith S (2017) A virtual reality keyboard with realistic haptic feedback in a fully immersive virtual environment. Virtual Real 21(1):19–29
Acknowledgements
This study was in part supported by ImPACT (Tough Robotics Challenge) and MEXT Kakenhi (15H05923).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Okada, T., Okamoto, S. & Yamada, Y. Passive haptics: greater impact presented by pulsive damping brake of DC motor and physical indices for perceived impact. Virtual Reality 25, 233–245 (2021). https://doi.org/10.1007/s10055-020-00452-8
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10055-020-00452-8