From ba6879a2a51954c2dba5d49744b3e4c0fbe0bc7c Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Fri, 6 Sep 2024 19:27:40 +0200 Subject: [PATCH] WIP haptic devices --- .../related-work/1-wearable-haptics.tex | 37 +++++---- .../related-work/3-visuo-haptic.tex | 4 +- .../figures/sarakoglou2012high.jpg | Bin 0 -> 81342 bytes references.bib | 75 ++++++++++++++++++ 4 files changed, 97 insertions(+), 19 deletions(-) create mode 100644 1-introduction/related-work/figures/sarakoglou2012high.jpg diff --git a/1-introduction/related-work/1-wearable-haptics.tex b/1-introduction/related-work/1-wearable-haptics.tex index 85dcac0..3e68de2 100644 --- a/1-introduction/related-work/1-wearable-haptics.tex +++ b/1-introduction/related-work/1-wearable-haptics.tex @@ -419,7 +419,7 @@ L'intégralité du système robotique est alors porté par l'utilisateur et form Un effet indésirable de cette conception est que la force de réaction est alors également transmise à l'utilisateur à l'endroit du corps où le dispositif est grounded (voir \figref{pacchierotti2017wearable_2}). Ils sont souvent lourds et encombrants, et ne peuvent pas être considérés comme wearable. -\textcite{pacchierotti2017wearable} définit que : "A wearable haptic interface should also be small, easy to carry, comfortable, and it should not impair the motion of the wearer." +\textcite{pacchierotti2017wearable} définit que : "A wearable haptic interface should also be small, easy to carry, comfortable, and it should not impair the motion of the wearer". Une approche consiste donc à déplacer le point de mise à la terre très proche de l'effecteur (voir \figref{pacchierotti2017wearable_3}) : l'interface est restreinte à un retour haptique cutané mais sa conception est plus compacte, légère, confortable et peu chère, comme un casque audio Bluetooth peut être parfaitement suffisant par rapport à un système Hi-Fi complet bien plus onéreux et encombrant. De plus, comme détaillé en \secref{object_properties}, les sensations cutanées sont nécessaires et souvent suffisantes pour la perception des propriétés haptiques d'un objet exploré avec la main. @@ -439,18 +439,13 @@ Le rendu d'un dispositif haptique est déterminé par la nature des actuateurs e \subfig[.32]{leonardis20173rsr} \end{subfigs} -\paragraph{Moving Indentation Actuators} - -Les actuateurs à indentation normale se déplacent perpendiculairement sur la peau pour générer des sensations de contact, de pression et de bords. Trois techniques sont principalement utilisées: les moving platforms, les pin-arrays et les pneumatic systems~\cite{pacchierotti2017wearable}. +\paragraph{Moving Platforms} +Les actuateurs à indentation normale se déplacent perpendiculairement sur la peau pour générer des sensations de contact, de pression et de bords~\cite{pacchierotti2017wearable}. Les plateformes mobiles sont généralement placées sous le bout des doigts et peuvent venir au contact de la peau avec différentes forces, vitesses et orientations. La plateforme est déplacée via des câbles, \eg in \figref{gabardi2016new}, ou des bras articulés, \eg in \figref{perez2017optimizationbased}, qui sont activés par des moteurs grounded sur l'ongle. Les moteurs allongent et raccourcissent les câbles ou orientent les bras pour déplacer la plateforme sur 3 \DoFs : deux pour l'orientation et un pour la force normale par rapport au doigt. -Un pin-array est une surface composée de plusieurs petits pions placés très proches sous forme de grille et qui peuvent être déplacés individuellement. Placée en contact avec le bout du doigt, elle peut générer des sensations de bord, de pression et de textures. \figref{pacchierotti2017wearable} montre un exemple de pin-array composé de \numproduct{4 x 4} tactors de \qty{1.5}{\mm} de diamètre et de \qty{2}{\mm} de hauteur, espacés de \qty{2}{\mm}. -Les systèmes pneumatiques utilisent un fluide comme de l'air ou de l'eau pour venir gonfler des membranes sous la peau, générant des sensations de contact et de pression. Plusieurs membranes sont souvent utilisées sous forme de grille pour simuler des bords et des textures comme sur la \figref{ujitoko2020development}. -Même si ces deux types d'effecteurs peuvent être considérés comme wearable, leur actuation nécessite une grande complexité mécanique et électronique qui rend le système dans son ensemble peu portable. - \begin{subfigs}{normal_actuators}{ Example of normal indentation actuators for the fingertip. }[ @@ -466,8 +461,16 @@ Même si ces deux types d'effecteurs peuvent être considérés comme wearable, \subfig{ujitoko2020development} \end{subfigs} +\paragraph{Pin and Pneumatic Arrays} + +Un pin-array est une surface composée de plusieurs petits pions placés très proches sous forme de grille et qui peuvent être déplacés individuellement. Placée en contact avec le bout du doigt, elle peut générer des sensations de bord, de pression et de textures. \figref{pacchierotti2017wearable} montre un exemple de pin-array composé de \numproduct{4 x 4} tactors de \qty{1.5}{\mm} de diamètre et de \qty{2}{\mm} de hauteur, espacés de \qty{2}{\mm}. +Les systèmes pneumatiques utilisent un fluide comme de l'air ou de l'eau pour venir gonfler des membranes sous la peau, générant des sensations de contact et de pression. Plusieurs membranes sont souvent utilisées sous forme de grille pour simuler des bords et des textures comme sur la \figref{ujitoko2020development}. +Même si ces deux types d'effecteurs peuvent être considérés comme wearable, leur actuation nécessite une grande complexité mécanique et électronique qui rend le système dans son ensemble peu portable. + \paragraph{Shearing and Compression Belts} +Une approche alternative mécaniquement plus simple est de placer une ceinture en tissu sur le doigt pour générer des sensations de pression et de cisaillement. + \paragraph{Vibrotactile Actuators} Vibrotactile actuators are the most common and simplest wearable haptic interfaces, and are available as consumer products. @@ -481,15 +484,15 @@ Several types of vibrotactile actuators are used in haptics, with different trad \item Piezoelectric actuators deform a solid material when a voltage is applied. They are very small and thin, and allow two \DoFs of amplitude and frequency control. However, they require high voltages to operate and are difficult to control. \end{itemize} -\begin{subfigs}{vibrotactile_actuators}{Diagrams of vibrotactile acuators. }[ - \item Diagram of a cylindrical encapsulated \ERM. From Precision Microdrives.~\footnotemark[2] - \item Diagram of a \LRA. From Precision Microdrives.~\footnotemark[2] - \footnotetext[2]{\url{https://www.precisionmicrodrives.com/}} - ] - \subfigsheight{50mm} - \subfig{precisionmicrodrives_erm} - \subfig{precisionmicrodrives_lra} -\end{subfigs} +%\begin{subfigs}{vibrotactile_actuators}{Diagrams of vibrotactile acuators. }[ +% \item Diagram of a cylindrical encapsulated \ERM. From Precision Microdrives.~\footnotemark[2] +% \item Diagram of a \LRA. From Precision Microdrives.~\footnotemark[2] +% \footnotetext[2]{\url{https://www.precisionmicrodrives.com/}} +% ] +% \subfigsheight{50mm} +% \subfig{precisionmicrodrives_erm} +% \subfig{precisionmicrodrives_lra} +%\end{subfigs} \begin{subfigs}{vibrotactile_performances}{Performances of vibrotactile acuators. }[ \item Amplitude and frequency output of an \ERM as a function of the input voltage. From Precision Microdrives.~\footnotemark[2] diff --git a/1-introduction/related-work/3-visuo-haptic.tex b/1-introduction/related-work/3-visuo-haptic.tex index e54603c..e943414 100644 --- a/1-introduction/related-work/3-visuo-haptic.tex +++ b/1-introduction/related-work/3-visuo-haptic.tex @@ -1,7 +1,7 @@ -\section{Visuo-Haptic Augmented Reality} +\section{Visuo-Haptic Hand-Object Interactions in Augmented Reality} \label{vhar} -%Combiner haptique et RA +% Answer the following four questions: “Who else has done work with relevance to this work of yours? What did they do? What did they find? 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a/references.bib b/references.bib index 17e4a19..f621623 100644 --- a/references.bib +++ b/references.bib @@ -787,6 +787,17 @@ doi = {10/grq5jd} } +@article{chinello2018three, + title = {A {{Three Revolute-Revolute-Spherical Wearable Fingertip Cutaneous Device}} for {{Stiffness Rendering}}}, + author = {Chinello, Francesco and Pacchierotti, Claudio and Malvezzi, Monica and Prattichizzo, Domenico}, + date = {2018-01}, + journaltitle = {IEEE Trans. Haptics}, + volume = {11}, + number = {1}, + pages = {39--50}, + doi = {10/gdc7b3} +} + @article{romano2012creating, title = {Creating {{Realistic Virtual Textures}} from {{Contact Acceleration Data}}}, author = {Romano, Joseph M. and Kuchenbecker, Katherine J.}, @@ -2648,6 +2659,18 @@ doi = {10/gn2c7d} } +@article{hayward2007it, + title = {Do {{It Yourself Haptics}}: {{Part I}}}, + shorttitle = {Do It Yourself Haptics}, + author = {Hayward, Vincent and Maclean, Karon E.}, + date = {2007}, + journaltitle = {IEEE Robot. Autom. 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