HapSticks: A novel method to present vertical forces in tool-mediated interactions by a non-grounded rotation mechanism

Ginga Kato, Yoshihiro Kuroda, Ilana Nisky, Kiyoshi Kiyokawa, Haruo Takemura

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Force feedback in tool-mediated interactions with the environment is important for successful performance of complex tasks in our daily life as well as in specialized fields like medicine. Stylus-based haptic devices are studied and used extensively, and most of these devices require either grounding or attachment to the body of the user. Recently, non-grounded haptic devices are getting an increasing attention. In this paper, we propose a novel method to represent the vertical forces that are applied on the tip of a tool: a non-grounded rotation mechanism that mimics the cutaneous sensation that is caused by these tool-tip forces. To evaluate this method, we developed a novel ungrounded haptic device-HapSticks-that renders the sensation of manipulating objects using chopsticks. First, we present the novel mechanism, and test the pressure that it applies on the hand of the user when rendering a force at the tip of the tool in comparison to applying a real force at the tip of the tool. Next, we used the mechanism to build the HapSticks device as an example of an application of the proposed method, and present a psychophysical evaluation of this device in a virtual weight discrimination task.

Original languageEnglish
Title of host publicationIEEE World Haptics Conference, WHC 2015
EditorsJ. Edward Colgate, Hong Z. Tan, Hong Z. Tan, Seungmoon Choi, Gregory J. Gerling
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages400-407
Number of pages8
ISBN (Electronic)9781479966240
DOIs
StatePublished - 4 Aug 2015
Event10th IEEE World Haptics Conference, WHC 2015 - Evanston, United States
Duration: 22 Jun 201526 Jun 2015

Publication series

NameIEEE World Haptics Conference, WHC 2015

Conference

Conference10th IEEE World Haptics Conference, WHC 2015
Country/TerritoryUnited States
CityEvanston
Period22/06/1526/06/15

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