Low cost tactile feedback platform for teleoperation and VR sensing Human Machine Interaction & Low...
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Transcript of Low cost tactile feedback platform for teleoperation and VR sensing Human Machine Interaction & Low...
Low cost tactile feedback platform for teleoperation and VR sensing
Human Machine Interaction & Low cost technologies
Adrien Moucheboeuf - July 8th, 2015
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Some usability problems…
?
?Detection zone
OK
(( ))
Simulation
or Robot
Advantages:-Immersion in virtual environment-Capture attention & offload the visual modality (e.g error messages, redirect attention to specific target)-Improve operability
Control (gesture or control pad, GUI)
Visual & Audio
Haptic (Force +Tactile)
Touch sensation provided via small vibrations (vibrating units on skin => tactors)
Manipulation tasks, events of the virtual environment
Design guidelines for tactile feedback integration in multimodal systems
How to represent all these events?
Problem: The skin often integrates stimuli Consequence: new percept totally different from the sum of original stimuli
Many possible pitfalls:
- Spatial effects- Temporal effects
Temporal masking
Adaptation…
Combination of the two…
Minimized using different stimulation frequencies, delay between stim., loci..
Example: vest and gloves
?
Expectations Reality
(2)
(1)
Tactile systems…Each lab has its own hardware and software implementation (Disney Research e.g haptic seat…)Off the shelf products:
Often only low level control of tactor
Up to the developer to write the “touch effects” (Glove one)
Too purpose specific
Long development cycle for HMI designer to make tactile feedback
No broad diffusion of the technology
Objective:
Provide a platform for the design of tactile feedback to the maker community and researchers:
Low cost versatile hardware No hardware design required.
Include SDK Intuitive interface - little to no need for programming or knowledge to create tactile stimulations
Fast prototyping and design
Hardware
Driver module (battery, power supply, microcontroller and amplifiers) ($20-$30)
Cheap tactors
Linear resonant actuator LRA ($2-$3 each)
eccentric rotative mass ERM < $1
Extensible: Connectible modules to have as many tactors as needed
Velcro coated vibration units and control module positionable anywhere on the body + different wire lengths
Actuators (small vibration units)on modules
DriverModule 1
Tactor 1..n
DriverModule 2
DriverModule m
Tactile Display
Desktop computer, laptop,
or Embedded computer
Tactor 1..n
Tactor 1..n
Application for the design of tactile stimulations
3D body interface
Easy placing of tactile units on a grid
Drawing of stimulations :points, paths, characteristics (intensity, frequencies)…
Indicates possible conflicts between stimulation patterns
(maybe) Adapt grid based on model of the “user characteristics” with a calibration phase.
Customizable from hobbyist to researchers: tactor model used, tactor activation algorithms, tactor positioning grids..
Developer’s API provide low level control over each module and its actuators
Example: Minimum separation between tactors to feel two stimulation points
SDK
Thank You.