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Discrete-time adaptive windowing for velocity estimation
- F. Janabi-Sharifi, V. Hayward, Chung-Shin J. Chen
- EngineeringIEEE Transactions on Control Systems Technology
- 1 November 2000
A first-order adaptive windowing method is shown to be optimal in the sense that it minimizes the velocity error variance while maximizes the accuracy of the estimates, requiring no tradeoff.
Single state elastoplastic friction models
- P. Dupont, V. Hayward, B. Armstrong, F. Altpeter
- EngineeringIEEE Transactions on Automatic Control
- 7 August 2002
A new class of single state models is defined in which presliding is elastoplastic: under loading, frictional displacement is first purely elastic and then transitions to plastic, to substantially reduce drift while preserving the favorable properties of existing models.
Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives
- C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, D. Prattichizzo
- Art, Computer ScienceIEEE Transactions on Haptics
- 25 March 2017
This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges, and reports on the future perspectives of the field.
Force can overcome object geometry in the perception of shape through active touch
It is shown that regardless of surface geometry, subjects identified and located shape features on the basis of force cues or their correlates, and it is found that subjects perceived a bump.
Haptic interfaces and devices
- V. Hayward, Oliver R. Astley, Manuel Cruz-Hernandez, Danny Grant, Gabriel Robles-De-La-Torre
- 1 March 2004
A description of the components and the modus operandi of haptic interfaces are described, followed by a list of current and prospective applications and a discussion of a cross‐section of current device designs.
Performance Measures for Haptic Interfaces
Requirements and guidelines for the performance measures of haptic devices are set out and performance measures introduced which have so far not been pertinent in traditional robotics; these include, peak force, peak acceleration and frequency dependent measurements.
Estimation of the Fracture Toughness of Soft Tissue from Needle Insertion
From measurements made in vivo, porcine liver fracture toughness was estimated from the difference in penetration force between two consecutive insertions at the same location and the values obtained fall within a reasonable range and confirm the relevance of a computational model of needle insertion based on fracture mechanics.
A brief taxonomy of tactile illusions and demonstrations that can be done in a hardware store
- V. Hayward
- EducationBrain Research Bulletin
- 15 April 2008
Finger pad friction and its role in grip and touch
- M. Adams, Simon A. Johnson, J. Thonnard
- Materials ScienceJournal of the Royal Society Interface
- 6 March 2013
Many aspects of both grip function and tactile perception depend on complex frictional interactions occurring in the contact zone of the finger pad, which is the subject of the current review. While…
A role for haptics in mobile interaction: initial design using a handheld tactile display prototype
- J. Luk, Jérôme Pasquero, Shannon Little, K. MacLean, Vincent Lévesque, V. Hayward
- Computer ScienceCHI
- 22 April 2006
The first stages of a systematic design effort to break a vicious cycle of inadequate haptic technology obstructs inception of vitalizing applications are presented, beginning with specific usage scenarios and a new handheld display platform based on lateral skin stretch.