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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: closed (30 June 2020) | Viewed by 43698
Related Special Issue: Haptics: Technology and Applications—2021

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Special Issue Editor

Prof. Dr. Sang-Youn Kim

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Director of Advanced Technology Research Center, Korea University of Technology and Education, Cheonan 31253, Republic of Korea
Interests: haptic actuator; soft actuator; soft robot; vibrotactile actuator
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue seeks papers examining some of the latest advances with respect to haptic actuators, haptic rendering, haptic applications in virtual reality/augmented reality, haptic applications in virtual education/training, and all aspects of haptics, including neuroscience, psychophysics, perception, and interactions. This Special Issue also welcomes papers related to medical and surgical simulations, skills training, rehabilitation robotics, collaborative human–robot interactions, communication, and haptic feedback for design and the arts.

Prof. Dr. Sang-Youn Kim
Guest Editor

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Keywords

haptic/vibrotactile actuator
psychophysics and perception
multimodal interaction
virtual reality
haptic interfaces design
haptic rendering and modeling

Published Papers (14 papers)

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Editorial

Jump to: Research, Review

3 pages, 179 KiB

Open AccessEditorial

Haptics and VR: Technology and Applications

by Sang-Youn Kim

Appl. Sci. 2022, 12(19), 9681; https://0-doi-org.brum.beds.ac.uk/10.3390/app12199681 - 27 Sep 2022

Viewed by 1313

Abstract

Although the most recently developed virtual reality systems convey photorealistic visual information and 3D audio information to users, it is not easy to create immersive and realistic sensations for users to perceive the real world [...] Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

Research

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16 pages, 3058 KiB

Open AccessArticle

Texture Identification of Objects Using a Robot Fingertip Module with Multimodal Tactile Sensing Capability

by Bo-Gyu Bok, Jin-Seok Jang and Min-Seok Kim

Appl. Sci. 2021, 11(11), 5256; https://0-doi-org.brum.beds.ac.uk/10.3390/app11115256 - 05 Jun 2021

Cited by 5 | Viewed by 2618

Abstract

Modern robots fall behind humans in terms of the ability to discriminate between textures of objects. This is due to the fact that robots lack the ability to detect the various tactile modalities that are required to discriminate between textures of objects. Hence, our research team developed a robot fingertip module that can discriminate textures of objects via direct contact. This robot fingertip module is based on a tactile sensor with multimodal (3-axis force and temperature) sensing capabilities. The multimodal tactile sensor was able to detect forces in the vertical (Z-axis) direction as small as 0.5 gf and showed low hysteresis error and repeatability error of less than 3% and 2% in the vertical force measurement range of 0–100 gf, respectively. Furthermore, the sensor was able to detect forces in the horizontal (X- and Y-axes) direction as small as 20 mN and could detect 3-axis forces with an average cross-talk error of less than 3%. In addition, the sensor demonstrated its multimodal sensing capability by exhibiting a near-linear output over a temperature range of 23–35 °C. The module was mounted on a motorized stage and was able to discriminate 16 texture samples based on four tactile modalities (hardness, friction coefficient, roughness, and thermal conductivity). Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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18 pages, 1188 KiB

Open AccessArticle

A Pneumatically-Actuated Mouse for Delivering Multimodal Haptic Feedback

by Waseem Hassan, Hwangil Kim, Aishwari Talhan and Seokhee Jeon

Appl. Sci. 2020, 10(16), 5611; https://0-doi-org.brum.beds.ac.uk/10.3390/app10165611 - 13 Aug 2020

Cited by 4 | Viewed by 2692

Abstract

Most of the information a user obtains through a computer is visual and/or auditory. Providing synchronized haptic information in addition to visual and/or auditory information can significantly enhance user experience and perception of virtual objects. In this paper, we propose a pneumatically-controlled haptic mouse that can replace a conventional computer mouse and deliver multimodal haptic feedback using a single end-effector. The haptic mouse can deliver distinct haptic feedback, i.e., static pressure, high frequency vibrations, and impact response. It has a dual-layered silicone housing with two air chambers. The outer layer is stretchable, and when pumped with air, changes in size and delivers feedback directly to the hand. The inner layer is non-stretchable, and is used to hold the form of the haptic mouse. Various experiments were conducted to quantify the characteristics of haptic mouse. The haptic mouse can generate a static pressure of up to 0.6 Gs, vibrations up to 250 Hz, and provides a max actuation delay of 23 ms. Based on those characteristics, haptic geometry and texture rendering algorithms were developed. These algorithms were used to render virtual shapes and textures and were evaluated using a psychophysical experiment. The results show that participants were able to successfully identify the geometries and textures in most cases. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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Graphical abstract

16 pages, 8228 KiB

Open AccessArticle

Design and Evaluation of Enhanced Mock Circulatory Platform Simulating Cardiovascular Physiology for Medical Palpation Training

by Jae-Hak Jeong, Young-Min Kim, Bomi Lee, Junki Hong, Jaeuk Kim, Sam-Yong Woo, Tae-Heon Yang and Yong-Hwa Park

Appl. Sci. 2020, 10(16), 5433; https://0-doi-org.brum.beds.ac.uk/10.3390/app10165433 - 06 Aug 2020

Cited by 10 | Viewed by 4484

Abstract

This study presents a design and evaluation of a mock circulatory platform, which can reproduce blood pressure and its waveforms to provide palpation experience based on the human cardiovascular physiology. To reproduce the human cardiovascular behavior, especially the blood pressure, the proposed platform includes three major modules: heart, artery and reservoir modules. The heart module reproduces source pressure exerted on the whole system with a controlled time-profile. The artery module consists of a resistance valve to adjust the open area of the vessel and a compliance chamber adjusting the wall stiffness of the ascending aorta. The designed platform was cross validated by comparing the theory with a lumped model, i.e., the windkessel model, the measurements from the mock circulatory platform and the real human body data. As a result, the ventricular and aortic pressure waveforms measured from the designed platform were well matched with those of the actual human body. Parametric studies regarding peripheral resistance and aortic compliance were done for the detailed correlation analysis between human cardiovascular physiology and blood pressure. Since the proposed platform is based on the actual cardiovascular physiology, adjusting the structural parameters of the components can reproduce realistic blood pressure waveforms in a controllable manner. This platform is applicable to blood pressure measurement sensor calibration, palpation training, and haptic feedback. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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13 pages, 4235 KiB

Open AccessArticle

Experimental Evaluation on the Effect of Electrode Configuration in Electrostatic Actuators for Increasing Vibrotactile Feedback Intensity

by Taylor Mason, Jeong-Hoi Koo, Young-Min Kim and Tae-Heon Yang

Appl. Sci. 2020, 10(15), 5375; https://0-doi-org.brum.beds.ac.uk/10.3390/app10155375 - 04 Aug 2020

Cited by 5 | Viewed by 2324

Abstract

Vibrotactile feedback is a key feature of many modern touch displays, which greatly enhances user experiences when interacting with an onscreen interface. Despite its popularity in small touch screen devices, this haptic feature is absent in most large displays due to a lack of suitable actuators for such applications. Thus, a growing need exists for haptic actuators capable of producing sufficient vibrations in large touch displays. This study proposes and evaluates a novel electrostatic resonant actuator (ERA) with a moving mass and dual electrodes for increased vibration feedback intensity. The dual-electrode ERA was fabricated along with a comparable single-electrode ERA to investigate the effect of the electrode configuration on the maximum vibration intensity. When measured directly on the mass, the maximum vibration intensity of the dual-electrode actuator increased by 73% compared to the single-electrode actuator. When mounted and measured on a mock panel, the maximum vibration intensity of the dual-electrode actuator increased by nearly 65% compared to a similarly mounted single-electrode actuator. These results show that the dual-electrode configuration can significantly increase the vibration intensity when compared to the conventional ERA. This demonstrates a promising potential for the use of the proposed actuator for generating vibrotactile feedback in large touch displays. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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18 pages, 6795 KiB

Open AccessArticle

Investigating Vibration Acceleration of a Segmented Piezoelectric Ciliary-Like Body Beam for a Tactile Feedback Device

by Jichun Xing, Huajun Li and Ian Howard

Appl. Sci. 2020, 10(15), 5362; https://0-doi-org.brum.beds.ac.uk/10.3390/app10155362 - 03 Aug 2020

Cited by 2 | Viewed by 1980

Abstract

A piezoelectric Ciliary-like body beam of a tactile feedback device can realize a touchpoint of different tactile sensations under simple control when the finger movement changes to the opposite direction. In a previous published study, the friction of touch sensation was shown to depend on the acceleration of forced vibration of the ciliary-like body beam. For investigating the system parameters’ effect on vibration accelerations, the dynamic model of forced vibration of the touch beam is established, and the steady-state response of the touch beam excited by piezoelectric sheets is deduced. The influence of instantaneous acceleration and average acceleration of the touch beam on skin was analyzed, and an experiment was conducted to prove the theoretical analysis. The study results show that larger excitation voltage, larger piezoelectric constants, smaller elasticity modulus, and smaller damping ratio would enhance the displacement and acceleration of the forced response of the touch beam. Through the experimental results, the working mode and frequency of the touch beam was obtained, and the correctness of the theoretical analysis was verified. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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15 pages, 8085 KiB

Open AccessArticle

Visuo-Haptic Mixed Reality Simulation Using Unbound Handheld Tools

by Mehmet Murat Aygün, Yusuf Çağrı Öğüt, Hulusi Baysal and Yiğit Taşcıoğlu

Appl. Sci. 2020, 10(15), 5344; https://0-doi-org.brum.beds.ac.uk/10.3390/app10155344 - 03 Aug 2020

Cited by 5 | Viewed by 4412

Abstract

Visuo-haptic mixed reality (VHMR) adds virtual objects to a real scene and enables users to see and also touch them via a see-through display and a haptic device. Most studies with kinesthetic feedback use general-purpose haptic devices, which require the user to continuously hold an attached stylus. This approach constrains users to the mechanical limits of the device even when it is not needed. In this paper, we propose a novel VHMR concept with an encountered-type haptic display (ETHD), which consists of a precision hexapod positioner and a six-axis force/torque transducer. The main contribution is that the users work with unbound real-life tools with tracking markers. ETHD’s end-effector remains inside the virtual object and follows the tooltip to engage only during an interaction. We have developed a simulation setup and experimentally evaluated the relative accuracy and synchronization of the three major processes, namely tool tracking, haptic rendering, and visual rendering. The experiments successfully build-up to a simple simulation scenario where a tennis ball with a fixed center is deformed by the user. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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11 pages, 4836 KiB

Open AccessFeature PaperArticle

A Tiny Haptic Knob Based on Magnetorheological Fluids

by Yong Hae Heo, Dong-Soo Choi, In-Ho Yun and Sang-Youn Kim

Appl. Sci. 2020, 10(15), 5118; https://0-doi-org.brum.beds.ac.uk/10.3390/app10155118 - 25 Jul 2020

Cited by 13 | Viewed by 3187

Abstract

In this paper, we propose a tiny haptic knob that creates torque feedback in consumer electronic devices. To develop the proposed haptic knob, we use a magnetorheological (MR) fluid. When an input current is applied to a solenoid coil, a magnetic field causes a change in the MR fluid’s viscosity. This change allows the proposed haptic knob to generate a resistive torque. We optimize the structure of the haptic knob, in which two operating modes of MR fluids contribute to the actuation simultaneously. We conduct magnetic path simulation and resistive torque simulation using the finite element method and perform experiments to measure the resistive torque and its torque rate according to the rotational speed and applied current. The results show that the proposed haptic knob generates sufficient torque feedback to stimulate users and creates a variety of haptic sensations. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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14 pages, 1467 KiB

Open AccessArticle

Rendering Strategy to Counter Mutual Masking Effect in Multiple Tactile Feedback

by Semin Ryu, Dongbum Pyo, Soo-Chul Lim and Dong-Soo Kwon

Appl. Sci. 2020, 10(14), 4990; https://0-doi-org.brum.beds.ac.uk/10.3390/app10144990 - 20 Jul 2020

Cited by 1 | Viewed by 1742

Abstract

Recently, methods and devices that simultaneously utilize two or more tactile feedback types have been proposed for more immersive interaction with virtual objects. However, the masking effect, which makes us less sensitive to various stimuli presented at the same time, has scarcely been explored. In this study, we propose a novel tactile rendering algorithm that can eliminate the mutual masking effect at the user’s sensation level, when mechanical vibration and electrovibration are applied simultaneously. First, the masking functions of the two stimuli were investigated for various stimulus combinations. Based on these, a generalized form of the masking function was derived. We then tested and confirmed that the proposed algorithm, which calculates the required stimulus intensity to compensate for the mutual masking effect, could render the arbitrary stimulus intensity desired to be perceived by the users. The results of the user test revealed that the proposed rendering algorithm significantly improved the virtual object recognition rate by approximately 23% when geometry and texture were presented jointly. This finding suggests principal guidelines for the combined use of mechanical vibration and electrovibration, as well as for other combinations of different tactile feedback types. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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10 pages, 1749 KiB

Open AccessArticle

Vibrotactile Stimulation of Nail of Hallux during Walking: Effect on Center-of-Mass Movement in Healthy Young Adults

by Haruki Toda, Yuki Hashimoto and Mitsunori Tada

Appl. Sci. 2020, 10(13), 4562; https://0-doi-org.brum.beds.ac.uk/10.3390/app10134562 - 30 Jun 2020

Cited by 3 | Viewed by 2135

Abstract

Previous studies have reported that vibrotactile stimulation of the nail of the hallux decreases the variability of the center-of-mass (CoM) movement in the lateral direction in subjects performing unsteady walking on the spot. This study investigated the effect of vibrotactile stimulation of the nail of the hallux on the CoM movement during walking. Healthy young males were asked to walk with and without stimulation, and their CoM was measured. The intrasubject mean and coefficient of variation (CV) of their walking speed, stance time, and CoM movement were evaluated. The differences between the variables with and without stimulation were determined, and the baseline-dependent effects of the stimulation on these variables were analyzed. It was observed that stimulation had a negative baseline-dependent effect on the CVs of the walking speed, stance time, and the CoM movement in the lateral direction. In particular, stimulation decreased the CV of the CoM movement in the lateral direction for subjects with a greater variability. Vibrotactile stimulation of the nail of the hallux can reduce the variability of the lateral displacement of the CoM movement in healthy young subjects who otherwise show a large variability of the CoM movement during walking without stimulation. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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24 pages, 16793 KiB

Open AccessArticle

Using Game Engines for Visuo-Haptic Learning Simulations

by David Escobar-Castillejos, Julieta Noguez, Roberto A. Cárdenas-Ovando, Luis Neri, Andres Gonzalez-Nucamendi and Víctor Robledo-Rella

Appl. Sci. 2020, 10(13), 4553; https://0-doi-org.brum.beds.ac.uk/10.3390/app10134553 - 30 Jun 2020

Cited by 10 | Viewed by 5270

Abstract

Technological advances have been the main driver of enhancing human–computer interaction and interactive simulations have experienced exponential growth in recent years. However, visual and auditory channels are usually the only ones considered for educational simulations even though the sense of touch is also an important one. Touch allows us to recognize and interact with our surroundings. A common way to develop a visuo-haptic simulation in the area of interactive systems is by using a graphic and physics-based engine orchestrated with a haptic rendering framework. However, new solutions, such as professional game engines, have enabled the development of high-quality applications in much shorter time. In this paper, a novel architecture for fast development of interactive visuo-haptic applications in game engines is discussed. To validate the proposed architecture, the Haptic Device Integration for Unity (HaDIU) plugin was implemented. Simulations were implemented to verify the operability of haptic devices. Each scenario was properly modelled and has different haptic objectives. Furthermore, to validate that the usage of this approach provides better visualizations than an existing single purpose application, an experimental study was performed. Results suggest that by using this approach faster development of interactive visuo-haptic simulators can be achieved than using traditional techniques. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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13 pages, 13469 KiB

Open AccessArticle

Measurement System for Finger Skin Displacement on a Textured Surface Using Index Matching

by Seitaro Kaneko and Hiroyuki Kajimoto

Appl. Sci. 2020, 10(12), 4184; https://0-doi-org.brum.beds.ac.uk/10.3390/app10124184 - 18 Jun 2020

Cited by 3 | Viewed by 2552

Abstract

Understanding the relationship between the displacement of the skin when tracing a textured object and the resulting subjective sensations is essential in designing tactile displays. Previous studies observed skin displacement using flat glass plates or uneven surfaces that do not optically interfere with finger surface observations. In contrast, no direct method for observing skin surface displacement on a texture exists. We propose a system that enables observation of the interaction between a textured surface and the skin of the finger using an index-matching technique. In the proposed system, a texture plate is immersed in oil having the same refractive index as the plate, and measurements are made when the interface is nearly optically transparent. Further, printed markers are attached to the skin of the finger, and their movements analyzed using an image-processing algorithm. The system enables spatial measurement of the skin shear and the vibration of the contact area. Evaluation experiments conducted on a 1D textured surface having a pitch of 0.6 mm verify the feasibility of the proposed system. Optical misalignment simulation results indicate that the system is slightly less accurate than type-I mechanoreceptors but can measure skin deformation on a texture and also observe it spatially and temporally. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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11 pages, 3161 KiB

Open AccessArticle

Measurement of the Permissible Range of Consistency between Visual and Tactile Presentations of Line Grating Textures

by Shun Yamaguchi, Seitaro Kaneko and Hiroyuki Kajimoto

Appl. Sci. 2020, 10(7), 2494; https://0-doi-org.brum.beds.ac.uk/10.3390/app10072494 - 05 Apr 2020

Cited by 1 | Viewed by 2516

Abstract

The use of real textures is the optimal way to present realistic textures in a VR (Virtual Reality) experience. However, a system may require the presentation of numerous objects in a VR scene, making the use of real objects impractical. One way to address this issue is to present visual and tactile texture information simultaneously such that multiple different visual textures are associated with one tactile sensation. This tactile sensation must differ from the visual information only to the extent that the user still perceives the stimuli as consistent. This study examines the consistency required for the simultaneous presentation of visual and tactile sensations for the purpose of reducing the number of necessary real textures in future VR systems. An experiment was conducted using one-dimensional textures (i.e., line gratings), in which participants were asked whether the presented visual texture was finer or coarser than the tactile texture. The results suggest that the relative size of the “permissible range” (the range over which the difference between the visual and tactile sensation is not recognized) is correlated with the spatial period of the real texture. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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Review

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35 pages, 1271 KiB

Open AccessReview

A Review of Training and Guidance Systems in Medical Surgery

by David Escobar-Castillejos, Julieta Noguez, Fernando Bello, Luis Neri, Alejandra J. Magana and Bedrich Benes

Appl. Sci. 2020, 10(17), 5752; https://0-doi-org.brum.beds.ac.uk/10.3390/app10175752 - 20 Aug 2020

Cited by 11 | Viewed by 4186

Abstract

In this paper, a map of the state of the art of recent medical simulators that provide evaluation and guidance for surgical procedures is performed. The systems are reviewed and compared from the viewpoint of the used technology, force feedback, learning evaluation, didactic and visual aid, guidance, data collection and storage, and type of solution (commercial or non-commercial). The works’ assessment was made to identify if—(1) current applications can provide assistance and track performance in training, and (2) virtual environments are more suitable for practicing than physical applications. Automatic analysis of the papers was performed to minimize subjective bias. It was found that some works limit themselves to recording the session data to evaluate them internally, while others assess it and provide immediate user feedback. However, it was found that few works are currently implementing guidance, aid during sessions, and assessment. Current trends suggest that the evaluation process’s automation could reduce the workload of experts and let them focus on improving the curriculum covered in medical education. Lastly, this paper also draws several conclusions, observations per area, and suggestions for future work. Full article

(This article belongs to the Special Issue Haptics: Technology and Applications)

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