000216509 001__ 216509
000216509 005__ 20180128055553.0
000216509 0247_ $$2doi$$a10.1016/j.Sna.2015.10.048
000216509 022__ $$a0924-4247
000216509 02470 $$2ISI$$a000367483500021
000216509 037__ $$aARTICLE
000216509 245__ $$aA flexible multimodal tactile display for delivering shape and material information
000216509 260__ $$aLausanne$$bElsevier$$c2015
000216509 269__ $$a2015
000216509 300__ $$a10
000216509 336__ $$aJournal Articles
000216509 520__ $$aThe growing complexity of telemanipulation tasks calls for increased realism and intuitiveness of the interaction between the user and the master control. Humans perceive multiple haptic features of an object such as its stiffness, temperature, and shape, and rely on this multimodal information to achieve dexterous manipulation. However, to date, remote manipulators rarely provide haptic information to the operator. Moreover, current multimodal displays are often too rigid and bulky to be integrated into the manipulator. Thus, to improve the quality of teleoperation, there is a high demand for flexible devices that are capable of matching the skin's curvature while delivering multimodal haptic information to the operator. In this paper, we present a flexible tactile display delivering tactile and thermal stimuli to the user's skin. We propose a hybrid electromagnetic-pneumatic actuation to operate a 2 x 2 array of tactile cells. Each cell provides a repetitive stimulation with a force and an indentation that are above the human perception threshold for the finger, palm, and forearm. In addition, the temperature of the display's surface is controlled using a Peltier element attached to an air-cooled heatsink. By providing a reproducible cooling gradient, our display simulates common materials encountered in the daily environment. User study results show that (1) the tactile stimulation is perceived well and (2) the identification rates of objects simulated with the display were comparable to those obtained with real objects. Unlike previous devices, the thermal stimulation is delivered while the display is in constant contact with the user's skin, a necessary requirement for teleoperation. These results demonstrate the potential of our device as a promising tactile display for providing haptic feedback in teleoperation. (C) 2015 Elsevier B.V. All rights reserved.
000216509 6531_ $$aHaptics
000216509 6531_ $$aWearable
000216509 6531_ $$aMultimodal
000216509 6531_ $$aFlexible
000216509 6531_ $$aTactile display
000216509 700__ $$aGallo, Simon$$uKorean Inst Sci & Technol KIST, Ctr Biomicrosyst, Seoul, South Korea
000216509 700__ $$aSon, Choonghyun$$uKorean Inst Sci & Technol KIST, Ctr Biomicrosyst, Seoul, South Korea
000216509 700__ $$aLee, Hyunjoo Jenny$$uKorea Adv Inst Sci & Technol KAIST, Sch Elect Engn, Daejeon, South Korea
000216509 700__ $$0240027$$aBleuler, Hannes$$g104561$$uEcole Polytech Fed Lausanne, Lab Robot Syst, Ecublens, Switzerland
000216509 700__ $$aCho, Il-Joo$$uKorean Inst Sci & Technol KIST, Ctr Biomicrosyst, Seoul, South Korea
000216509 773__ $$j236$$q180-189$$tSensors And Actuators A-Physical
000216509 909C0 $$0252016$$pLSRO
000216509 909CO $$ooai:infoscience.tind.io:216509$$particle$$pSTI
000216509 917Z8 $$x104561
000216509 937__ $$aEPFL-ARTICLE-216509
000216509 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000216509 980__ $$aARTICLE