Representation of Distributed Haptic Feedback Given via Vibro-tactile Actuator Arrays

Ranasinghe, Anuradha and Weheliye, Ashraf and Dasgupta, Prokar and Nanayakkara, Thrishantha (2018) Representation of Distributed Haptic Feedback Given via Vibro-tactile Actuator Arrays. In: Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach. Series in Automation, Control and Robotics . River Publishers. ISBN 9788793519725

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Abstract

There are many studies to suggest that the human motor system adaptively combines motor primitives to control limb movements. However, little is known about whether the somatosensory system too uses a similar strategy to efficiently represent haptic experiences. Since it has been shown that humans learn movements through flexible combination of primitives that can be modeled using Gaussian-like functions, we try to explore whether human brain uses similar primitives to represent haptic memory too. We tested whether haptic memory is localized and magnitude specific along the arm. Therefore, experiments were conducted to understand how humans trained in primitive haptic patterns given using a wearable sleeve can recognize their shifts and linear combinations. A wearable sleeve was used that consisted of seven vibro-actuators to convey the primitive patterns. We found that (1) subjects find it easier to recognize uni-modal haptic templates. When they are given bi-modal patterns, subjects tend to generalize them to uni-modal patterns; (2) haptic memory is location specific. When the same template is shifted along the arm, the original template interferes with the shifted pattern. (3) subjects can recognize linear combinations of previously trained haptic templates. In addition to the prototype presented in Chapter 14, this chapter provides guidelines to design haptic feedback system for STIFF-FLOP continuum manipulator. The scenarios can include separation of force and torque into different distributed haptic feedback templates, and recognition of tissue contact forces at multiple points along the arm using optimally designed feedback templates using vibro-tactile actuator arrays

Item Type:	Book Section
Faculty / Department:	Faculty of Human and Digital Sciences > Mathematics and Computer Science
Depositing User:	Matthew Adams
Date Deposited:	08 Jun 2018 13:19
Last Modified:	08 Jun 2018 14:59
URI:	https://hira.hope.ac.uk/id/eprint/2534

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