NDLI: Perception of a Haptic Jamming display: Just noticeable differences in stiffness and geometry

Content Provider	IEEE Xplore Digital Library
Author	Genecov, A.M. Stanley, A.A. Okamura, A.M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA (Genecov, A.M.; Stanley, A.A.; Okamura, A.M.)
Abstract	This work characterizes aspects of human perception of a Haptic Jamming device, a tactile display capable of simultaneously and independently controlling its stiffness and geometry via particle jamming and pneumatic actuation. A single Haptic Jamming cell is filled with coarse coffee grounds, connected to vacuum, and placed over a pressure-regulated air chamber. Increased vacuum level in the cell increases cell stiffness, and increased pressure in the chamber beneath the cell balloons the cell upward. Single-cell devices were manufactured and tested to determine the relationships between the vacuum and air pressure levels and the device outputs, stiffness and geometry, respectively. Using these relationships, reference and comparison values were selected for each output, and psychophysical experiments were conducted to determine the Weber Fraction for rigidity (an alternate terminology for nonlinear stiffness, used in the experiment prompt) and geometry, represented by the eccentricity of the elliptical profile of the cell. The Weber Fractions for stiffness and geometry were 16.0% and 14.3%, respectively. No significant correlation was found between human perception of these stimuli and the forces/torques applied to the devices during haptic exploration. These results will enable more accurate representations of virtual environments using an array of haptic jamming cells under development for medical training and simulation.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	333
Ending Page	338
File Size	1343195
Page Count	6
File Format	PDF
ISBN	9781479931316
ISSN	23247355
DOI	10.1109/HAPTICS.2014.6775477
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-02-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geometry Jamming Haptic interfaces Force Mercury (metals) Shape Arrays
Content Type	Text
Resource Type	Article

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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