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Erwan Normand
2024-09-26 18:24:42 +02:00
parent d4c244b8bb
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1-introduction/related-work/2-wearable-haptics.tex
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@@ -266,7 +266,7 @@ The virtual force of the device $\tilde{f_r}(t)$ is then controlled to:
A force sensor embedded in the device measures the reaction force $f_r(t)$.
The displacement $x_r(t)$ is estimated with the reaction force and the tapping velocity using a predefined model of different materials as described in \textcite{jeon2011extensions}.
As shown in \figref{jeon2009haptic_2}, the force $\tilde{f_r}(t)$ perceived by the user is modulated, but not the displacement $x_r(t)$, hence the perceived stiffness is $\tilde{k}(t)$.
This stiffness augmentation technique was then extended to allow tapping and pressing with 3 \DoFs \cite{jeon2010stiffness}, to render friction and weight augmentations \cite{jeon2011extensions}, and to grasp and squeez the real object with two contact points \cite{jeon2012extending}.
This stiffness augmentation technique was then extended to allow tapping and pressing with 3 \DoFs \cite{jeon2010stiffness}, to render friction and weight augmentations \cite{jeon2011extensions}, and to grasp and squeeze the real object with two contact points \cite{jeon2012extending}.
\begin{subfigs}{stiffness_rendering_grounded}{
Augmenting the perceived stiffness of a real surface with a hand-held force-feedback device.