NDLI: Characterization of an air jet haptic lump display

Content Provider	IEEE Xplore Digital Library
Author	Bianchi, M. Gwilliam, J.C. Degirmenci, A. Okamura, A.M.
Copyright Year	2011
Description	Author affiliation: Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA (Gwilliam, J.C.; Degirmenci, A.; Okamura, A.M.) \|\| Interdepartmental Research Center “E. Pi-aggio”, University of Pisa, via Diotisalvi 2, 56126 Pisa, Italy (Bianchi, M.)
Abstract	During manual palpation, clinicians rely on distributed tactile information to identify and localize hard lumps embedded in soft tissue. The development of tactile feedback systems to enhance palpation using robot-assisted minimally invasive surgery (RMIS) systems is challenging due to size and weight constraints, motivating a pneumatic actuation strategy. Recently, an air jet approach has been proposed for generating a lump percept. We use this technique to direct a thin stream of air through an aperture directly on the finger pad, which indents the skin in a hemispherical manner, producing a compelling lump percept. We hypothesize that the perceived parameters of the lump (e.g. size and stiffness) can be controlled by jointly adjusting air pressure and the aperture size through which air escapes. In this work, we investigate how these control variables interact to affect perceived pressure on the finger pad. First, we used a capacitive tactile sensor array to measure the effect of aperture size on output pressure, and found that peak output pressure increases with aperture size. Second, we performed a psychophysical experiment for each aperture size to determine the just noticeable difference (JND) of air pressure on the finger pad. Subject-averaged pressure JND values ranged from 19.4–24.7 kPa, with no statistical differences observed between aperture sizes. The aperture-pressure relationship and the pressure JND values will be fundamental for future display control.
Starting Page	3467
Ending Page	3470
File Size	1001289
Page Count	4
File Format	PDF
ISBN	9781424441211
ISSN	1557170X
e-ISBN	9781457715891
e-ISBN	9781424441228
DOI	10.1109/IEMBS.2011.6090937
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Apertures Tactile sensors Arrays Pressure measurement Size measurement Haptic interfaces
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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