Influence of Sparse Contact Point and Finger Penetration in Object on Shape Recognition

Making a virtual object shape recognizable using a haptic display is one of the major themes of haptic research. In previous works, multipoint haptic displays have been developed that had a high contact point density between the users' finger skin and the virtual object. However, the ideal contact point density that enables intuitive shape recognition has not been determined yet. Meanwhile, there is also a fundamental problem; that is, real fingers and virtual objects do penetrate, which cannot be solved with such wearable displays. This article investigated the influence of both contact point density and penetration on the shape recognition performance. We prepared a real testing environment where the user touched the real object, and where we could simulate both the sparse contact point and the penetration. Specifically, users' fingers wore thin film coated with glass particles and they touched the urethane foams that deformed flexibly. The result of experiments showed a broad trend where the sparseness of the contact and the softness of the object influenced the exploration time required to achieve recognition. In addition, the result suggested that the larger contact density could make up for the problem of penetration. We confirmed it by conducting two different tasks: (1) exploring the object surface with the index finger and (2) grasping the object surface with the thumb and the index finger.

Design and Analysis of High-Resolution Electrostatic Adhesive Brakes Towards Static Refreshable 2.5D Tactile Shape Display

Tactile displays are haptic devices capable of rendering shape and texture information. Unsolved challenges in building tactile shape displays include their traditionally large form factors, low spatial resolution, and high costs. Using electrostatic adhesion to individually brake each pin and a single platform for global actuation, we developed a prototype static refreshable tactile shape display with high spatial resolution (1.7 mm pitch, 0.8 mm pin width; 4 mm pitch, 1.6 mm pin width), high resistance force (76.3 gf static-loading force per pin for 1.6 mm width) and low cost ($0.11 USD per pin for raw material). We present an analytical model of our electroadhesive brake mechanism and evaluate its maximum contact force and robustness in various conditions. To demonstrate the mechanism's potential, we built a static tactile shape display prototype with a 4×2 array of pins controlled using electroadhesive brakes. To further increase maximsum contact force allowed by our device, we develop and evaluate a global mechanical clutch which can be engaged during user interaction. A user study is carried out to compare our static tactile shape display's performance with printed 2.5D tactile graphics in a shape recognition task, and comparable shape recognition rates and response times are observed.

A comparison of three materials used for tactile symbols to communicate colour to children and young people with visual impairments

A series of 14 tactile symbols were developed to represent different colours and shades for children and young people who are blind or have visual impairment. A study compared three different methods for representing the symbols: (1) embroidered thread, (2) heated ‘swell’ paper, and (3) representation in plastic using Additive Manufacturing (AM; three-dimensional printing). The results show that for all three materials, the recognition of particular symbols varied between 2.40 and 3.95 s. The average times for the three materials across all colours were 2.26 s for AM material, 3.20 s for swell paper, and 4.03 s for embroidered symbols. These findings can be explained by the fact that the AM material (polylactide) is firmer and more easily perceived tactually than the other two materials. While AM plastic offers a potentially useful means to communicate colours for appropriate objects, traditional media are still important in certain contexts.

How tactor size and density of normal indentation tactile displays affects grating discrimination tasks

Tactile fingertip devices of vertically moving tactors have two important design parameters that significantly affect physical feedback and human tactile perception: tactor size and tactor density. However, there are a limited number of research studies that have evaluated the effect of these parameters on human tactile perception. This paper investigated the influence and interaction of these two parameters on a discrimination task. The task consisted of discriminating the spatial-period of sinusoidal gratings through the use of passive-guided touch. In two complementary experiments 40 participants performed the discrimination task under two different tactile conditions: (I) using direct bare fingertip sensing (baseline condition), and (II) using tactile displays with different tactor spacings and diameters. In both experiments differences between and within subjects were considered for Condition II, and for all test conditions the spatial-period Weber fraction for each participant was measured. Results from both experiments were consistent in indicating that tactile performance improves as tactor spacing is decreased and tactor diameter is increased. However, tactor spacings below 1.1 mm might not result in any significant further improvement. The findings of this study might help designers to choose design parameters for tactile displays based upon the cost-benefit of tactor density versus perceptual performance.

Measuring the performance of visual to auditory information conversion

Background

Visual to auditory conversion systems have been in existence for several decades. Besides being among the front runners in providing visual capabilities to blind users, the auditory cues generated from image sonification systems are still easier to learn and adapt to compared to other similar techniques. Other advantages include low cost, easy customizability, and universality. However, every system developed so far has its own set of strengths and weaknesses. In order to improve these systems further, we propose an automated and quantitative method to measure the performance of such systems. With these quantitative measurements, it is possible to gauge the relative strengths and weaknesses of different systems and rank the systems accordingly.

Methodology

Performance is measured by both the interpretability and also the information preservation of visual to auditory conversions. Interpretability is measured by computing the correlation of inter image distance (IID) and inter sound distance (ISD) whereas the information preservation is computed by applying Information Theory to measure the entropy of both visual and corresponding auditory signals. These measurements provide a basis and some insights on how the systems work.

Conclusions

With an automated interpretability measure as a standard, more image sonification systems can be developed, compared, and then improved. Even though the measure does not test systems as thoroughly as carefully designed psychological experiments, a quantitative measurement like the one proposed here can compare systems to a certain degree without incurring much cost. Underlying this research is the hope that a major breakthrough in image sonification systems will allow blind users to cost effectively regain enough visual functions to allow them to lead secure and productive lives.

Feeling through Tactile Displays: A Study on the Effect of the Array Density and Size on the Discrimination of Tactile Patterns

Tactile arrays are devices that can provide spatially distributed cutaneous signals delivering crucial information during virtual haptic exploration or remote manipulation procedures. Two of the key specifications of a tactile array are the tactor spacing and array size that are believed to directly affect the device performance. In most of the systems developed so far, these two parameters have been chosen by trial and error or by trying to match the tactor density to the spatial resolution in the human fingertip. The objective of this work is to study the effect of tactor spacing and array size on the tactile arrays performance by measuring human tactile discrimination ability. Psychophysical experiments were performed to obtain the differential threshold for discrimination of a ridge angle and the shape recognition performance while exploring edge-based patterns. The patterns were explored through different passive (nonactuated) tactile arrays of vertically moving pins and also directly with the finger. Results indicate that a tactile array of 1.8 mm tactor spacing and 1 cm(2) array size transmits the pattern information with a good level of accuracy. This work shows that tactile devices with low complexity (small number of tactors) are still effective in conveying tactile cues. Moreover, this work provides performance measures that determinate the capabilities of tactile pin arrays to convey accurately tactile information.

User-Adaptive Reconfigurable Interface for In-Vehicle Information Systems

To reduce the visual workload produced by information systems and their use during vehicle operation, we propose a user-adaptive, reconfigurable vehicle information interface with a reconfigured navigation sequence and reshaped operating switches (buttons). Our proposed user-adaptive interface consists of user modeling using a hidden Markov model (HMM) and reconfiguration of a preferred navigation sequence. The interface learns a user's navigation patterns based on accumulated navigation sequences. The navigation sequence with the highest likelihood is recommended as preferred among possible sequences, and the navigation sequence is reconfigured omitting intermediate steps. The reconfigurable keypad we propose reflects personal differences because information is customized through the physical reconfiguration of switches corresponding to recommended contents. Information is displayed tactilely and visually together through tactile and visual displays. To analyze the effect of navigation sequence and switch reconfiguration, we conducted experiments using two examples. Experimental results showed that reconfiguring the navigation sequence and switches reduced navigation reaction time.

Graphical tactile displays for visually-impaired people

This paper presents an up-to-date survey of graphical tactile displays. These devices provide information through the sense of touch. At best, they should display both text and graphics (text may be considered a type of graphic). Graphs made with shapeable sheets result in bulky items awkward to store and transport; their production is expensive and time-consuming and they deteriorate quickly. Research is ongoing for a refreshable tactile display that acts as an output device for a computer or other information source and can present the information in text and graphics. The work in this field has branched into diverse areas, from physiological studies to technological aspects and challenges. Moreover, interest in these devices is now being shown by other fields such as virtual reality, minimally invasive surgery and teleoperation. It is attracting more and more people, research and money. Many proposals have been put forward, several of them succeeding in the task of presenting tactile information. However, most are research prototypes and very expensive to produce commercially. Thus the goal of an efficient low-cost tactile display for visually-impaired people has not yet been reached.

Figure and texture presentation capabilities of a tactile mouse equipped with a display pad of stimulus pins

To obtain specifications for a tactile display that would be effective in virtual reality and tele-existence systems, we have developed two types of matrix-type experimental tactile displays. One is for virtual figures (display A) and the other is for virtual textures (display B). Display A's pad has a 4 × 6 array of stimulus pins, each 0.8 mm in diameter. Three pad configurations, in which distances between any two adjacent pins (pin pitch) are 1.2, 1.9, or 2.5 mm, were developed to examine the influence of distance on a human operator's determination of virtual figures. Display B has an 8 × 8 array of stimulus pins, each 0.3 mm in diameter and with 1-or 1.8-mm pin pitch, because presentation of virtual textures was presumed to require a higher pin density. To establish a design method for these matrix-type tactile displays, we performed a series of psychophysical experiments using displays A and B. By evaluating variations in the correct answer percentage and threshold caused by different pin arrays and different pin strokes, we determined under what conditions the operator could best feel the virtual figures and textures. The results revealed that the two-point threshold should be adopted as the pitch between pins in the design of the tactile display, that a pin stroke should exceed 0.25 mm, and that the adjustment method is the most appropriate to evaluate the capabilities of tactile displays. Finally, when we compared the virtual texture with the real texture, we found that the threshold for the real texture is almost 1/3rd that of the virtual texture. This result implies that it is effective to present variations in patterns caused by rotation and variation in shearing force, itself produced by relative motion between the finger surface and object surface.

Transparent Tactile Switch for Touch Screen Interface

We designed and fabricated a transparent switch using silicone elastomer to create a tactile “click” on a generic touch screen. We ensured good visibility by introducing a solvent having the same reflective index as silicone in the gap between the cover and display. The “click,” produced by buckling, was evaluated quantitatively by measuring its keystroke and reaction on the key top. To enhance the click, we used a hard transparent plate on the silicone. We implemented the switch on a life supporting robot as a human-machine interface.