Integrating Tactile and Force Feedback with Finite Element Models

— Few systems have integrated the correct tactile and kinesthetic force feedback response with an accurate computational model of a compliant environment. We examine several design issues that arise in the construction of a compliance render, specifically the interaction between impedances of tactile displays, impedances of robot arms, and the computational model. We also describe an implementation of a compliance rendering system combining a low impedance robot arm for large workspace kinesthetic force feedback, a high impedance shape display for distributed tactile force feedback to the fingerpad, and a real time finite element modeler. We conducted a user study examining stiffness discrimination ability to determine the efficacy of the integration of the tactile and kinesthetic force feedback components. Subjects were able to reliably detect a 20% difference in rendered material stiffness using the compliance rendering system.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Christopher R. Wagner, Douglas P. Perrin, Ross L. Feller, Robert D. Howe, Olivier Clatz, Hervé Delingette, Nicholas Ayache
• Keywords: ICRA 2005, Kinesthetic Force Feedback, Robotics, Tactile, Tactile Force Feedback