<p style="margin-top: 0">
An ontology that describes the interaction between humans and haptic
devices
</p>
Machine
<p style="margin-top: 0">
They respond rapidly to a stimulus.
</p>
Machine
Pressure
Vibration
<p style="margin-top: 0">
The function of a haptic device to create tactile information.
</p>
Human
Machine
Machine
Vibration
Large
21
Rapid
800.0
40.0
200.0
300.0
Vibration
Pressure
<p style="margin-top: 0">
The disposition of nerves to transfer haptic information when receptors
are activated.
</p>
Vibration
Skin stretch
<p style="margin-top: 0">
Muscles are occupied by other continuants (muscle spindles).
</p>
98.4
2.0
49.1
Coldness
25.0
<p style="margin-top: 0">
Contain 4 stages of processes: 1. Geometry modelling 2. Kinematics
modelling 3. Physical modelling 4. Feature extraction
</p>
Human
Human
Human
Stroking
Fluttering
Fluttering
Skin stretch
Pressure
Vibration
1
2
<p style="margin-top: 0">
They are activated when they sense skin changes in temperature.
</p>
1
30.0
Machine
<p style="margin-top: 0">
Parts of the haptic devices. Mechanisms to introduce motion or to clamp
an object so as to prevent motion.
</p>
1
1
1
Vibration
Pressure
Warmth
Coldness
<p style="margin-top: 0">
The role of the skin receptors to transmit information to the nerve
fibers.
</p>
5.0
1
1
1
1
<p style="margin-top: 0">
The skin receptors are innervated by different kinds of nerve fibers
(neurons).
</p>
1
<p style="margin-top: 0">
The sensory receptors under the skin, and in muscles, tendons, and
joints, become activated not only through contact with an object but
through movement.
</p>
Human
Vibration
Pressure
Skin stretch
12.0
6.0
75.0
33.0
12.0
6.0
75.0
33.0
101.5
0.8
1
45
68.7
12
Machine
Machine
<p style="margin-top: 0">
or: Stimulus modelling. Describes the shape of virtual objects
(polygons, triangles, vertices, splines) as well as their appearance
(surface texture, surface illumination and color).
</p>
Human
Skin stretch
0.1
2.0
Joint tension
1.0
0.5
Pressure
Joint tension
Vibration
Pressure
Muscle stretch
70
0.4
100.0
Slow
7.0
Small
Pressure
<p style="margin-top: 0">
Receptors that are activated by mechanical stimuli.
</p>
1
Pressure
Stroking
<p style="margin-top: 0">
The_role_of_the_nerves_to_drive_tactile_signals_through_different_pathways.
</p>
1
1
1
1
<p style="margin-top: 0">
Parts of the haptic devices, used to sense a diverse range of stimulus
ranging from detecting the presence or absence of a grasped object to a
complete tactile image. Consists of an array of touch sensitive sites,
the sites may be capable of measuring more than one property.
</p>
1
5.0
1.0
30.0
3.0
10
9
40
44
42
38
8
Vibration
Joint tension
Skin stretch
64.3
35.5
2
2.0
1
1.0
1
2.5
2.0
2
2
2
4
2.5
1.5
3
0.5
Human
<p style="margin-top: 0">
The disposition of cortical neurons to process tactile information
delivered by nerve fibers.
</p>
Human
Human
Pain
2
<p style="margin-top: 0">
They are responsible for the pain signals that can damage the skin
tissue.
</p>
20.0
10.0
Stroking
140
Rapid
300.0
Fluttering
Small
50.0
Coldness
Warmth
Human
<p style="margin-top: 0">
Cranial cavity is a site occupied by another entity (brain).
</p>
Warmth
45.0
Skin stretch
<p style="margin-top: 0">
The function of activation of the skin receptors when they receive a
stimulus.
</p>
Human
Machine
<p style="margin-top: 0">
Associated_with_texture_encoding;_characterized_by_production_of_shearing_forces_between_skin_and_object.
</p>
Human
2
<p style="margin-top: 0">
They respond slowly to a stimulus.
</p>
<p style="margin-top: 0">
The function of nerve channels to enable tactile signals transport.
</p>
Human
1
11
7
0.5
10
2.5
12
8
1.0
2.0
1.5
Machine
<p style="margin-top: 0">
The process of computing and
</p>
<p style="margin-top: 0">
generating forces in response to use interactions
</p>
<p style="margin-top: 0">
with virtual objects, based on the position of the
</p>
<p style="margin-top: 0">
device. Or "Physical modelling"
</p>
<p style="margin-top: 0">
Associated with encoding of volume and coarse shape; characterized by
molding to touched surface but without high force.
</p>
Joint tension
Vibration
Muscle tension
Vibration
Pressure
Pressure
Vibration
<p style="margin-top: 0">
Associated with encoding of compliance; characterized by application of
forces to object (usually, normal to surface), while counterforces are
exerted (by person or external support) to maintain its position.
</p>
1
50.0
<p style="margin-top: 0">
Associated with encoding of weight; characterized by holding object away
from supporting surface, often with arm movement (hefting).
</p>
<p style="margin-top: 0">
Parts of the haptic devices that make sense of the signals going to, and
coming from the device.
</p>
Muscle stretch
Joint tension
Muscle tension
Muscle tension
Vibration
Muscle stretch
Joint tension
1.5
0.2
2.0
0.5
Joint tension
Pressure
Muscle tension
Joint tension
Muscle stretch
Human
2.0
1.0
0.1
Muscle stretch
Muscle tension
3.0
<p style="margin-top: 0">
This determines the location of 3D objects with respect to a world
system of coordinates as well as their motion in the virtual world.
</p>
Human
Pressure
Stroking
1
<p style="margin-top: 0">
The role of the brain to tactile perception integration.
</p>
20.0
13.0
120.0
80.0
<p style="margin-top: 0">
Joints are occupied by other continuants (joint tendons).
</p>
Human
Pressure
Human
1
1
1
1
1
1
20.0
13.0
120.0
80.0
Machine
Pressure
Vibration
<p style="margin-top: 0">
Nerve canals are sites-entities that can be occupied by other
continuants (nerves).
</p>
<p style="margin-top: 0">
Associated with encoding of precise contour; characterized by movement
of exploring effector (usually, one or more fingertips) along edge or
surface contour.
</p>
Pressure
Joint tension
<p style="margin-top: 0">
or:Haptic interaction. It is a processsubject to the applicable laws of
physics such as those of dynamics.
</p>
1
Human
Slow
Skin stretch
9
7.0
7.0
Large
Machine
<p style="margin-top: 0">
The disposition of the receptors to be activated when there is a
stimulus.
</p>
Human
1
1
1
3
3
1
1
1
1
1
1
1
1
1
1
Skin stretch
Pressure
Vibration
Pressure
Muscle stretch
Vibration
Joint tension
Skin stretch
1
20.0
<p style="margin-top: 0">
Associated with temperature encoding; characterized by contact with
maximum skin surface and without movement, also without effort to mold
to the touched surface.
</p>
<p style="margin-top: 0">
The function of the cortical neurons to receive and process tactile
signals and integrate perception.
</p>
Skin stretch
Pressure
Machine
High
Low
<p style="margin-top: 0">
Low inertia imposed by the device kinematics so that free motion feels
free.
</p>
<p style="margin-top: 0">
During grasping objects (0.5-2.5 mm)
</p>
Machine
Human
Low
High
<p style="margin-top: 0">
The low friction enables the user to move the device freely when not in
contact.
</p>
1
20
30
80
40
<p style="margin-top: 0">
In ms
</p>
<p style="margin-top: 0">
It is used as design guideline not only to increase its average value
but also to minimise the different between its extrema over a target
workspace. Peak force+inertia=peak acceleration
</p>
<p style="margin-top: 0">
The difference between the target coordinate and the centre of the
distribution curve of the actual coordinates of the arm endpoint.
</p>
<p style="margin-top: 0">
To achieve high precision a device must have high dynamic bandwidth
</p>
<p style="margin-top: 0">
Represents the smallest spatial separation between two stimuli applied
to the skin that caan be detected some arbitrary percentage of the time.
</p>
<p style="margin-top: 0">
In msec
</p>
<p style="margin-top: 0">
Receptors/cm^2
. Density differs if a receptor is located in fingertip, palm, arm, joints, muscles
</p>
<font size="12px" color="rgb(0, 0, 0)" face="Arial, Helvetica, sans-serif"><i style="word-spacing: 0px; letter-spacing: normal; line-height: normal; background-color: rgb(255, 255, 255); font-variant: normal; text-indent: 0px; white-space: normal; text-transform: none" align="-webkit-auto">The
minimum input of physical parameter that will create a detectable output (0.4-10 N)
change</i></font>
<p style="margin-top: 0">
In mm
</p>
<p style="margin-top: 0">
In Hz
</p>
<p style="margin-top: 0">
In Celcius degrees, warm receptors activated at 29-45 and cold receptors
5-40
</p>
Slow
Rapid
3
4
5
8
11
20
12
10
9
7
6
2
<p style="margin-top: 0">
Minimum 100 Hz
</p>
<p style="margin-top: 0">
Receptors in different areas of the skin have different receptive fields
</p>
Small
Large
1
2
<p style="margin-top: 0">
In degrees
</p>
<p style="margin-top: 0">
A stimulus is presented to the skin followed in time by a second
stimulus that may or may not be applied to the same site. Observers are
required to say whether the two stimuli occur at the same or different
locations.
</p>
Stroking
Pressure
Joint tension
Muscle stretch
Coldness
Muscle tension
Warmth
Vibration
Skin stretch
Fluttering
Pain
<p style="margin-top: 0">
Represents the smallest deviation from system equilibrium which can de
detected by the sensors under study. The specific bands of interest are:
1-10-100-1000 Hz
</p>
1
10
1000
100
High
Low
0.8
2.0
2.5
<p style="margin-top: 0">
The forces produced by a haptic device and the forces that can be
"sensed" by the skin surface
</p>
<p style="margin-top: 0">
RA I: 10-300 Hz
</p>
<p style="margin-top: 0">
RA II: 40-800 Hz
</p>
<p style="margin-top: 0">
SA I: 0.4-100 Hz
</p>
<p style="margin-top: 0">
SA II: 7 Hz
</p>
<p style="margin-top: 0">
Joint receptors: 0.1-2 Hz
</p>
<p style="margin-top: 0">
Muscle receptors: 0.1-3 Hz
</p>
<p style="margin-top: 0">
In msec
</p>
5.0
2.0
3.0
30.0
33.0
75.0
80.0
120.0
0.5
<p style="margin-top: 0">
In μm
</p>
0.2
0.5
2.0
3.0
5.0
7.0
8.0
9.0
20.0
13.0
12.0
15.0
10.0
6.0
1.5
1.0
Large
Small
<p style="margin-top: 0">
They become progressivley more complex with each stage of information
processing and they are larger than the receptors fields.
</p>
0.4
100
true
Machine
true
5
45
true
Large
3.5
1
3
true
10
300
100.0
50.0
6
2
2.5
2
Large
Small
0.3
2
10.0
0.8
2
0.0
Small
2.0
2
10.0
2
Small
Small
Small
Small
0.0
Small
Large
1
100
Low
High
7.9
1
0.0
Low
100.0
High
Large
High
100.0
Large
1.75
High
Large
100.0
Small
Small
1
Hand movement pivoting at wrist
0.0
2.0
2
8.0
Low
High
1
Human
Machine
true
7
true
40
800
Large
10.0
40.0
300.0
800.0
100.0
0.4
7.0
Large
Human
true
2
4
2
1
true
5
45
Small
Small
Small
0.5
0.5
Large
Large
Large
Large
Small
20
20
10.0
High
2
10
Low
1000.0
0
2200
High
Small
10.0
High
Low
5000.0
Low
1.5
Low
10.0
Small
High
1.5
20
Small
1
2
5
Small
45.0
50
1