Tactile feedback for teleoperation

Michael B. Cohn; Michael Lam; Ronald S. Fearing

doi:10.1117/12.142113

26 March 1993 Tactile feedback for teleoperation

Michael B. Cohn, Michael Lam, Ronald S. Fearing

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142113
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

In implementing tactile feedback, we are considering the problems of tactile transduction, signal processing, and tactile stimulation. While some of the problems--e.g. sensing--have been addressed in the past, tactile simulation or 'tactile display,' as an informational medium is yet at a very early stage of development. Our work has focused on the design of a 5 X 5 tactile display, and the fabrication problems surrounding high spatio-temporal resolution. Using pneumatic actuators and a mix of conventional and micromachining techniques, we have prototyped and characterized the display, and created a linked sensor-display system. The display was characterized in the usual manner of a linear system and the ability of human subjects to discriminate patterns, forces, and displacements was measured. The display was found to have a maximum force output of 340 milliNewton at each element, force resolution of 4.4 bits, and a frequency response of 7 Hz. Human subjects were able to recognize simple geometric patterns presented on the display, discriminant forces with 3.3 bits resolution, and sense displacements of 0.1 mm (5% of the array spacing).

Citation Download Citation

Michael B. Cohn, Michael Lam, and Ronald S. Fearing "Tactile feedback for teleoperation", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142113

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