Contact Location Display (CLD)
| Recreating all of the sensations we experience during object manipulation in virtual simulations with a haptic feedback device is quite challenging. This is especially true if the goal is to permit a person to move and interact with their hands as they would naturally, and not be confined to use a bulky bench-top device In addition to the challenges of packaging a device in a compact space, these devices should not emit extraneous or unintended vibrations, to which our hands our quite sensitive. So as an alternative, Dr. Provancher had proposed to represent just some of the cues and sensations experienced when touching real objects. As part of his dissertation research while in Stanford’s Biomimetics and Dexterous Manipulation Lab, he proposed to simply render the location of contact between the virtual object and finger. This type of feedback device is referred to as a contact location display (CLD). His research has shown this form of feedback to improve the perception of curvature and object motion, and to be a successful strategy to maintain finger contact during contour following (Kuchenbecker, et al.). This device can also convey “enhanced” friction by applying skin stretch. |  |
Prototype of a 1-DOF contact location display
Related Publications
- William R. Provancher, Mark R. Cutkosky, Katherine J. Kuchenbecker, and Günter Niemeyer. ”Contact Location Display for Haptic Perception of Curvature and Object Motion,” International Journal of Robotics Research, 24(9):691–702, September 2005.
- Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., and Cutkosky, M. R., “Haptic Display of Contact Location,” IEEE 12th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator System, Chicago, 2004, p. 40- 47.
- Provancher, W. R., Kuchenbecker, K. J., Niemeyer, G., and Cutkosky, M. R., “Perception of Curvature and Object Motion via Contact Location Feedback,” Proc. of the Intl. Symposium on Robotics Research (ISRR2003), Siena, Italy, 2003, p. 456–465.
- Sylvester, Nicholas D. and Provancher, William R., “Effects of Longitudinal Skin Stretch on the Perception of Friction,” In Proc. of the 2nd Annual World Haptics Conference, Tsukuba, Japan, March 22–24, 2007, p. 373–378.
- Provancher, William R. and Sylvester, Nicholas D., “Effects of Longitudinal Skin Stretch on the Perception of Friction,” Submitted to IEEE Transactions on Haptics, Aug. 2008, pp. 11. (In Review)
