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Proceedings Paper

Tactile feedback for teleoperation
Author(s): Michael B. Cohn; Michael Lam; Ronald S. Fearing
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Paper 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).

Paper Details

Date Published: 26 March 1993
PDF: 15 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142113
Show Author Affiliations
Michael B. Cohn, Univ. of California/Berkeley (United States)
Michael Lam, Univ. of California/Berkeley (United States)
Ronald S. Fearing, Univ. of California/Berkeley (United States)

Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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