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A novel two-degree-of-freedom tactile display reproduces the sensations of sliding contact and incipient slip through the rotation of a ball positioned under the user's fingertip. A pair of motor-driven wheels actuates the ball via contact friction. Mechanical performance requirements are used to define the dimensions and construction method of the device.(More)
— Haptic virtual fixtures have been shown to improve user performance and increase the safety of robot-assisted tasks, particularly for surgical applications. However, little research has studied virtual fixtures that provide moving force constraints based on motion of the environment, e.g., organ movement due to heartbeat or respiration. This work(More)
For many telemanipulators, it is often impractical to provide the same number of degrees of freedom for position control at the slave and force feedback to the master. Sensor/actuator asymmetries in telemanipulators are created when the user is able to position the telemanipulator in more degrees of freedom then the telemanip-ulator can provide force(More)
Many high-degree-of-freedom haptic devices and teleop-erator systems either do not have grippers or do not provide force feedback in the gripper degree of freedom (DOF). The purpose of this work is to determine the effect of gripper force feedback in relation to Cartesian (translational) force feedback on the execution of telemanipulation tasks. We(More)
A major benefit of educational robotics is its hands-on nature. This makes the learning process more compelling for most students, and underscores the connection between science, technology, engineering, and math (STEM) theory and physical reality. Educational haptics takes this premise a step further: haptic devices that provide force and tactile feedback(More)
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