Potential Dangerous Binaural Interaction Results within Even SteadyState Result Measurements

Our main finding is that the most efficient training approach is to use haptic rendering of contact in combination with visual animation-based guidance. Continuous forces, nudging, anti-forces and motion indicator cues were measured to be less effective.Previous research has shown evidence of tactile speech acquisition of up to 500 English words presented as tactile phonemic patterns using a 4-by-6 tactor array worn on the forearm. The present paper describes modifications to some of the tactile codes encoding the 39 English phonemes, and 10 additional codes as abbreviated patterns for the 10 most frequent phoneme pairs in spoken English. The re-design aimed to reduce the duration of phonemes and phoneme pairs that occur most frequently, with the goal to increase tactile speech transmission rates. Code identification experiments were conducted with 10 participants over three weeks using a video game. The average identification rate of the 49 modified codes (39 phonemes plus 10 phoneme pairs) was 83.3% with an average learning time of 6.2 hours. The average identification rate of the 49 codes in a retention test with 7 of the 10 participants after more than 90 days of no exposure to the tactile codes was 75.7%. An analysis using ideal transmission rates showed a 58% increase in transmission rate with the modified tactile codes as compared to the original codes, demonstrating that the improved codes can speed up tactile speech communication.Although many tactual communication methods have been developed over the past decades, few of them have been widely adopted in everyday lives. In this paper, we investigate the ability to deliver text messages using patterns of vibrations. By manipulating the duration and frequency of vibrations, we designed two vibrotactile alphabets, i.e. 3F Vibraille and 2F Vibraille, along with their corresponding numbers and symbols. The main difference between 3F Vibraille and 2F Vibraille is the number of frequency levels utilised. Both alphabets were evaluated through human experiments in terms of training time, learning process and recognition accuracy of words and symbols. For both alphabets, the results demonstrated that participants were able to recognise words and symbols at an accuracy of over 90% after 6-8 hours of training. The main difference between the alphabets was that 3F Vibraille achieved a higher transmission rate while 2F Vibraille required less training time.Encountered-type haptic rendering provides realistic, free-to-touch, and move-and-collide haptic sensation to a user. However, inducing haptic-texture sensation without complicated tactile actuators is challenging for encountered-type haptic rendering. In this paper, we propose a novel texture synthesizing method for an encountered-type haptic display using spatial and temporal encoding of roughness, which provides both active and passive touch sensation requiring no complicated tactile actuation. Focused on macro-scale roughness perception, we geometrically model the textured surface with a grid of hemiellipsoidal bumps, which can provide a variety of perceived roughness as the user explores the surface with one's bare hand. Our texture synthesis method is based on two important hypotheses. First, we assume that perceptual roughness can be spatially encoded along the radial direction of a textured surface with hemiellipsoidal bumps. Second, perceptual roughness temporally varies with the relative velocity of a scanning human hand with respect to the surface. To validate these hypotheses on our spatiotemporal encoding method, we implemented an encountered-type haptic texture rendering system using an off-the-shelf collaborative robot that can also track the user's hand using IR sensors.Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. selleck compound In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this paper introduces a novel dual-arm teleoperation architecture with haptic and visual feedback to enhance the operator immersion in surface treatment tasks. Two task-based assistance systems are also proposed to control each robotic manipulator individually. To validate the remote assisted control, some usability tests have been carried out using Baxter, a dual-arm collaborative robot. After analysing several benchmark metrics, the results show that the proposed assistance method helps to reduce the task duration and improves the overall performance of the teleoperation.Precision manipulation, or moving small objects held in the fingertips, is likely the most heavily utilized class of dexterous within-hand manipulation and adds greatly to the capabilities of the human hand. The present work focuses on studying the effects of varying the number of digits used on the resulting manipulation abilities, in terms of translational workspaces and rotational ranges, by manipulating two circular objects, 50 mm and 80 mm in diameter. In general, as the number of digits in contact with the object increases, the results show a significant reduction in precision manipulation workspace range for four of the six translation and rotation directions and no significant change in the other two, suggesting that for this particular metric, more fingers gives a reduction in performance. Furthermore, while two digits gives the largest workspaces for five of the six translation and rotation axes, the lack of ability to control rotation in the distal-proximal direction suggests that three digits may be more desirable for overall precision manipulation dexterity.As vibrotactile feedback systems become increasingly commonplace, their application scenarios are becoming more complex. We present a method of vibrotactor control that accommodates emerging design requirements, namely large vibrotactor arrays that are capable of displaying complex waveforms. Our approach is based on control through digital audio interfaces. We describe a new open-source software and hardware package, Syntacts, that lowers the technical barrier to rendering vibrations with audio. We also present a tutorial on common control schemes with a discussion of their advantages and shortcomings. Our software is purpose-built to control arrays of vibrotactors with extremely low latency. In addition, Syntacts includes means to synthesize and sequence cues, and spatialize them on tactile arrays. The Syntacts Amplifier integrates with the audio hardware to provide high-quality analog signals to the tactors without adding excess noise to the system. Finally, we present results from a benchmarking study with Syntacts compared to commercially available systems.