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Proceedings Paper

Multichannel vibrotactile display for sensory substitution during teleoperation
Author(s): Thomas Debus; Theresia Becker; Pierre Dupont; Tae-Jeong Jang; Robert D. Howe
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Paper Abstract

This paper presents the design and testing of a multi-channel vibrotactile display composed of cylindrical handle with four embedded vibrating elements driven by piezoelectric beams. The experimental goal of the paper is to analyze the performance of the device during a teleoperated force controlled task. As a test bed, a teleoperator system composed of two PHANToM haptic devices is used to trace a rectangular path while the operator attempts to maintain a constant force at the remote manipulator's tip. Four sensory modalities are compared. The first is visual feedback alone. Then, visual feedback is combined with vibration, force feedback, and force feedback plus vibration. Comparisons among these four modes are presented in terms of mean force error. Results show that force feedback combined with vibration provide the best feedback for the task. They also indicate that the vibrotactile device provides a clear benefit in the intended application, by reducing the mean force errors by 35 percent when compared to visual feedback alone.

Paper Details

Date Published: 5 February 2002
PDF: 8 pages
Proc. SPIE 4570, Telemanipulator and Telepresence Technologies VIII, (5 February 2002); doi: 10.1117/12.454744
Show Author Affiliations
Thomas Debus, Boston Univ. (United States)
Theresia Becker, Boston Univ. (United States)
Pierre Dupont, Boston Univ. (United States)
Tae-Jeong Jang, Kangwon National Univ. (South Korea)
Robert D. Howe, Harvard Univ. (United States)

Published in SPIE Proceedings Vol. 4570:
Telemanipulator and Telepresence Technologies VIII
Matthew R. Stein, Editor(s)

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