William R. Provancher

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—Application of tangential skin displacement at the fingertip has been shown to be effective in communicating direction and has potential for several applications. We have developed a portable, fingertip-mounted tactile display capable of displacing and stretching the skin of the fingerpad using a 7 mm hemispherical tactor. In vivo tests of fingerpad skin(More)
This work presents a new haptic device that integrates contact location feedback with grounded point-force display. The system consists of a thimble-based mechanism attached to the endpoint of a Phantom R ­ robotic arm. Contact location is rendered using a small tactile element that moves along the length of the user's fingerpad. The Phantom R ­ robot(More)
During tool-mediated interaction with everyday objects, we experience kinesthetic forces and tactile sensations in the form of vibration and skin deformation at the fingerpad. Fingerpad skin deformation is caused by forces applied tangentially and normally to the fingerpad skin, resulting in tangential and normal skin displacement. We designed a device to(More)
— A new approach for climbing hard vertical surfaces has been developed that allows a robot to scale concrete, stucco, brick and masonry walls without using suction or adhesives. The approach is inspired by the mechanisms observed in some climbing insects and spiders and involves arrays of microspines that catch on surface asperities. The arrays are located(More)
We present a new tactile display for use in dexterous telemanipu-lation and virtual reality. Our system renders the location of the contact centroid moving on the user's fingertip. Constructed in a thimble-sized package and mounted on a haptic force-feedback device, it provides the user with concurrent feedback of contact location and interaction forces. We(More)
Shared control represents a middle ground between supervisory control and traditional bilateral control in which the remote system can exert control over some aspects of the task while the human operator maintains access to low-level forces and motions. In the case of dexterous telemanipulation, a natural approach is to share control of the object handling(More)
—This research focuses on the relative importance of fingerpad skin stretch on the perception of friction. It is hypothesized that the perceived magnitude of friction rendered by traditional force feedback can be increased through the addition of fingertip skin stretch. Perceptual data is presented from two separate tests performed on 9 male subjects. The(More)
Tactile feedback could replace or augment visual and auditory communication in a range of important applications. This paper advances the field of tactile communication by presenting performance data on a variety of tactors and a finger restraint that is suitable for use in portable devices. Tactors, the contact elements between the device and the skin, and(More)