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Haptic perception is bidirectionally related to exploratory movements, which means that exploration influences perception, but perception also influences exploration. We can optimize or change exploratory movements according to the perception and/or the task, consciously or unconsciously. This paper presents a psychophysical experiment on active roughness(More)
OBJECT In endovascular coil embolization for an intracranial aneurysm, the excessive pressure created during coil insertion into an aneurysm can cause a catastrophic rupture or dislodge a microcatheter tip from the aneurysm dome, resulting in insufficient embolization. Such undue mechanical pressure can only be subjectively detected by the subtle tactile(More)
This paper introduces a device for enhancing detection of surface undulation through active touch. This device, which we call a “tactile contact lens,” is composed of a sheet and numerous pins arranged on one side of the sheet. Experimental results show that a small bump on a surface can be detected more accurately through this device than by(More)
—Modeling of friction force is cumbersome because of its discontinuity at zero velocity. This paper presents a set of discrete time friction models for the purpose of haptic rendering and virtual environment construction. These models allow friction to be treated as an admittance-type or impedance-type element of a virtual environment. They are derived from(More)