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Haptic technology is technology that can create an experience of touch by applying forces, vibrations, or motions to the user. These technologies can be used to create virtual objects in a computer simulation, to control virtual objects, and to enhance remote control of machines and devices (telerobotics). Haptic devices may incorporate tactile sensors that measure forces exerted by the user on the interface. The word haptic, from the Greek: ἁπτικός (haptikos), means "tactile, pertaining to the sense of touch". Simple haptic devices are common in the form of game controllers, joysticks, and steering wheels.
Dario Floreano is a Swiss-Italian roboticist and engineer. He is Director of the Laboratory of Intelligent System (LIS) at the École Polytechnique Fédérale de Lausanne in Switzerland and was the founding director of the Swiss National Centre of Competence in Research (NCCR) Robotics.
Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. In a robot swarm, the collective behavior of the robots results from local interactions between the robots and between the robots and the environment in which they act. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This idea emerged on the field of artificial swarm intelligence, as well as the studies of insects, ants and other fields in nature, where swarm behaviour occurs.
Electrorheological (ER) fluids are suspensions of extremely fine non-conducting but electrically active particles in an electrically insulating fluid. The apparent viscosity of these fluids changes reversibly by an order of up to 100,000 in response to an electric field. For example, a typical ER fluid can go from the consistency of a liquid to that of a gel, and back, with response times on the order of milliseconds. The effect is sometimes called the Winslow effect after its discoverer, the American inventor Willis Winslow, who obtained a US patent on the effect in 1947 and wrote an article published in 1949.
A virtual fixture is an overlay of augmented sensory information upon a user's perception of a real environment in order to improve human performance in both direct and remotely manipulated tasks. Developed in the early 1990s by Louis Rosenberg at the U.S. Air Force Research Laboratory (AFRL), Virtual Fixtures was a pioneering platform in virtual reality and augmented reality technologies.
A spherical robot, also known as spherical mobile robot, or ball-shaped robot is a mobile robot with spherical external shape. A spherical robot is typically made of a spherical shell serving as the body of the robot and an internal driving unit (IDU) that enables the robot to move. Spherical mobile robots typically move by rolling over surfaces. The rolling motion is commonly performed by changing the robot's center of mass, but there exist some other driving mechanisms. In a wider sense, however, the term "spherical robot" may also be referred to a stationary robot with two rotary joints and one prismatic joint which forms a spherical coordinate system.
Haptic perception means literally the ability "to grasp something". Perception in this case is achieved through the active exploration of surfaces and objects by a moving subject, as opposed to passive contact by a static subject during tactile perception.
The IEEE Robotics and Automation Society is a professional society of the IEEE that supports the development and the exchange of scientific knowledge in the fields of robotics and automation, including applied and theoretical issues.
An end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this device depends on the application of the robot.
In robotics and motion planning, a velocity obstacle, commonly abbreviated VO, is the set of all velocities of a robot that will result in a collision with another robot at some moment in time, assuming that the other robot maintains its current velocity. If the robot chooses a velocity inside the velocity obstacle then the two robots will eventually collide, if it chooses a velocity outside the velocity obstacle, such a collision is guaranteed not to occur.
A tactile sensor is a device that measures information arising from physical interaction with its environment. Tactile sensors are generally modeled after the biological sense of cutaneous touch which is capable of detecting stimuli resulting from mechanical stimulation, temperature, and pain. Tactile sensors are used in robotics, computer hardware and security systems. A common application of tactile sensors is in touchscreen devices on mobile phones and computing.
Affective haptics is an area of research which focuses on the study and design of devices and systems that can elicit, enhance, or influence the emotional state of a human by means of sense of touch. The research field is originated with the Dzmitry Tsetserukou and Alena Neviarouskaya papers on affective haptics and real-time communication system with rich emotional and haptic channels. Driven by the motivation to enhance social interactivity and emotionally immersive experience of users of real-time messaging, virtual, augmented realities, the idea of reinforcing (intensifying) own feelings and reproducing (simulating) the emotions felt by the partner was proposed. Four basic haptic (tactile) channels governing our emotions can be distinguished:
- physiological changes
- physical stimulation
- social touch
- emotional haptic design.
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Bio-inspired robotic locomotion is a fairly new subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems, including Biomimicry. Biomimicry is copying from nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature. Biomimicry has led to the development of a different branch of robotics called soft robotics. The biological systems have been optimized for specific tasks according to their habitat. However, they are multifunctional and are not designed for only one specific functionality. Bio-inspired robotics is about studying biological systems, and looking for the mechanisms that may solve a problem in the engineering field. The designer should then try to simplify and enhance that mechanism for the specific task of interest. Bio-inspired roboticists are usually interested in biosensors, bioactuators, or biomaterials. Most of the robots have some type of locomotion system. Thus, in this article different modes of animal locomotion and few examples of the corresponding bio-inspired robots are introduced.
The TreadPort Active Wind Tunnel is a unique immersive virtual environment that integrates locomotion interfaces with sensory cues such as visual, auditory, olfactory, radiant heat and wind display. The TPAWT augments the Sarcos Treadport consisting of the Cave automatic virtual environment(CAVE) with a subsonic wind tunnel built around the user environment, and adds wind to the virtual environment. The Treadport Active Wind Tunnel is one of the first virtual environments to include wind into the sensory experience of the user. Other systems considering wind display, directly use fans.
Tendon-driven robots (TDR) are robots whose limbs mimic biological musculoskeletal systems. They use plastic straps to mimic muscles and tendons. Such robots are claimed to move in a "more natural" way than traditional robots that use rigid metal or plastic limbs controlled by geared actuators. TDRs can also help understand how biomechanics relates to embodied intelligence and cognition.
Oussama Khatib is a roboticist and a professor of computer science at Stanford University, and a Fellow of the IEEE. He is credited with seminal work in areas ranging from robot motion planning and control, human-friendly robot design, to haptic interaction and human motion synthesis. His work's emphasis has been to develop theories, algorithms, and technologies, that control robot systems by using models of their physical dynamics. These dynamic models are used to derive optimal controllers for complex robots that interact with the environment in real-time.
Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans.
Domenico Prattichizzo is an Italian scientist with a strong and international recognized expertise in the fields of Haptics, Robotics and, Wearable technology. His researches find their main applications in virtual and augmented reality scenarios and in the rehabilitation of people with upper and lower limbs, visual and cognitive impairments.
A continuum robot is a type of robot that is characterised by infinite degrees of freedom and number of joints. These characteristics allow continuum manipulators to adjust and modify their shape at any point along their length, granting them the possibility to work in confined spaces and complex environments where standard rigid-link robots cannot operate. In particular, we can define a continuum robot as an actuatable structure whose constitutive material forms curves with continuous tangent vectors. This is a fundamental definition that allows to distinguish between continuum robots and snake-arm robots or hyper-redundant manipulators: the presence of rigid links and joints allows them to only approximately perform curves with continuous tangent vectors.
References
- ↑ AliAbbasi, Easa; Sormoli, MReza Alipour; Basdogan, Cagatay (2022). "Frequency-Dependent Behavior of Electrostatic Forces Between Human Finger and Touch Screen Under Electroadhesion". IEEE Transactions on Haptics. 15 (2): 416–428. doi:10.1109/TOH.2022.3152030 . Retrieved 2024-06-14.
- ↑ AliAbbasi, Easa; Martinsen, Ørjan Grottem; Pettersen, Fred-Johan; Colgate, James Edward; Basdogan, Cagatay (2024). "Experimental Estimation of Gap Thickness and Electrostatic Forces Between Contacting Surfaces Under Electroadhesion". Advanced Intelligent Systems. 6 (4): 2300618. doi:10.1002/aisy.202300618 . Retrieved 2024-06-14.
- ↑ "Electroadhesive Surface-Climbing Robots". SRI International . Retrieved 2013-07-01.
- ↑ Wei, Daiyue; Xiong, Quan; Dong, Jiufeng; Wang, Huacen; Liang, Xuanquan; Tang, Shiyu; Xu, Xinwei; Wang, Hongqiang; Wang, Hong (2023-06-01). "Electrostatic Adhesion Clutch with Superhigh Force Density Achieved by MXene-Poly(Vinylidene Fluoride–Trifluoroethylene–Chlorotrifluoroethylene) Composites". Soft Robotics. 10 (3): 482–492. doi:10.1089/soro.2022.0013. ISSN 2169-5172.
- ↑ "Electroadhesion". SRI International . Retrieved 2014-05-08.
- ↑ "A brief history of Electroadhesion" (PDF). mechatronics.org . Retrieved 2014-01-06.
- ↑ Wang, Hongqiang. "Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion_supp2-3319650.mp4". dx.doi.org. doi:10.1109/tmech.2023.3319650/mm1 . Retrieved 2024-04-24.
- ↑ Schaler, Ethan W.; Ruffatto, Donald; Glick, Paul; White, Victor; Parness, Aaron (September 2017). "An electrostatic gripper for flexible objects". 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. pp. 1172–1179. doi:10.1109/iros.2017.8202289. ISBN 978-1-5386-2682-5.
- ↑ Wang, Hongqiang; Yamamoto, Akio (2017). "Analyses and solutions for the buckling of thin and flexible electrostatic inchworm climbing robots". IEEE Transactions on Robotics. 33 (4): 889–900. doi:10.1109/TRO.2017.2690302.
- ↑ Xiong, Quan; Liang, Xuanquan; Wei, Daiyue; Wang, Huacen; Zhu, Renjie; Wang, Ting; Mao, Jianjun; Wang, Hongqiang (2022). "So-EAGlove: VR haptic glove rendering softness sensation with force-tunable electrostatic adhesive brakes". IEEE Transactions on Robotics. 38 (6): 3450–3462. doi:10.1109/TRO.2022.3172498.
- ↑ Chen, Cheng; Fan, Dongliang; Ren, Hongliang; Wang, Hongqiang (2024). "Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion". IEEE/ASME Transactions on Mechatronics. 29 (3): 1670–1679. doi:10.1109/TMECH.2023.3319650.