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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)
The purpose of this study is to establish a method of virtual-reality-mediated motion/force teaching from human teacher to human " teachee ". For effective teaching , position and force information of the teacher's action have to be communicated to the teachee. Position information is easy to display, but force information is difficult to display by(More)
— High-gain PID position control, which is widely used with industrial robots, involves some risks in cases of abnormal events, such as unexpected environment contacts and temporal power failures. This paper proposes a new position control method to achieve both accurate, responsive tracking during normal operation and smooth, overdamped recovery from a(More)
This article describes a computationally efficient formulation and an algorithm for tetrahedral finite-element simulation of elastic objects subject to Saint Venant-Kirchhoff (StVK) material law. The number of floating point operations required by the algorithm is in the range of 15% to 27% for computing the vertex forces from a given set of(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)
—High-gain proportional–integral–derivative (PID) position control involves some risk of unsafe behaviors in cases of abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is as accurate as conventional PID control during normal operation, but is capable of slow,(More)
—This paper considers the application of a low-force robotic manipulator to guide a human user's movements to place a tool (or the user's hand) at a predetermined position or move it along a predetermined trajectory. This application is potentially useful, e.g., skill training for humans, rehabilitation, and human–machine coordination in the manufacturing(More)
—Some recent studies have addressed a class of human– machine coordination employing " virtual fixtures, " which are computer-generated walls or guides presented through haptic devices for assisting precise path tracing and for preventing the entry to specified regions. This paper presents the concept and control algorithms of a new class of virtual(More)