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5 February 2002 Multichannel vibrotactile display for sensory substitution during teleoperation
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Proceedings Volume 4570, Telemanipulator and Telepresence Technologies VIII; (2002)
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
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.
© (2002) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Thomas Debus, Theresia Becker, Pierre Dupont, Tae-Jeong Jang, and Robert D. Howe "Multichannel vibrotactile display for sensory substitution during teleoperation", Proc. SPIE 4570, Telemanipulator and Telepresence Technologies VIII, (5 February 2002);

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