Ontology
comment: An ontology that describes the interaction between humans and haptic devices
imports: http://www.ifomis.org/bfo/1.0
imports: swrla.owl
imports: sqwrl.owl

Machine Object
type: Class
disjoint with: Human Object
subclass of: Object
subclass of: Restriction
  has value: Machine
  on property: Involves

Human Object
type: Class
disjoint with: Machine Object
subclass of: Object
subclass of: Restriction
  has value: Human
  on property: Involves

Involves
type: DatatypeProperty
range: DataRange
  one of: Human
  one of: Machine

Haptic rendering
type: Class
comment: The process of computing and generating forces in response to use interactions with virtual objects, based on the position of the device. Or "Physical modelling"
subclass of: Restriction
  some values from: Class
    union of: Compliance
    union of: Temperature-Thermal quality
    union of: Texture
    union of: Weight density
  on property: RepresentMaterial
subclass of: Machine Process
subclass of: Restriction
  on property: IsPartOf c
  all values from: Computer Haptics
subclass of: Restriction
  on property: CreateVirtualObject
  some values from: Virtual objects
disjoint with: Geometry modelling
disjoint with: Kinematics modelling
disjoint with: Feature extraction

Rapidly adapting
type: Class
comment: They respond rapidly to a stimulus.
disjoint with: Slowly adapting
subclass of: Mechanoreceptors

Slowly adapting
type: Class
disjoint with: Rapidly adapting
comment: They respond slowly to a stimulus.
subclass of: Mechanoreceptors

Mechanoreceptors
type: Class
subclass of: Receptors
disjoint with: Proprioceptors
subclass of: Restriction
  on property: ActivatedBy
  some values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus
subclass of: Restriction
  all values from: Skin surface
  on property: LocatedIn s
disjoint with: Thermoreceptors
disjoint with: Nociceptors
comment: Receptors that are activated by mechanical stimuli.
subclass of: Restriction
  all values from: Aβ
  on property: ConnectedThrough
subclass of: Restriction
  min cardinality: 1
  on property: Adaptation rate

Machine Site
type: Class
disjoint with: Human Site
subclass of: Site
subclass of: Restriction
  has value: Machine
  on property: Involves

Human Site
type: Class
disjoint with: Machine Site
subclass of: Site
subclass of: Restriction
  on property: Involves
  has value: Human

Nerves
type: Class
subclass of: Human ObjectAggregate
comment: The skin receptors are innervated by different kinds of nerve fibers (neurons).
subclass of: Restriction
  min cardinality: 1
  on property: Diameter
disjoint with: Receptors
subclass of: Restriction
  all values from: Nerve canals
  on property: LocatedIn n
subclass of: Restriction
  on property: TransmitSignals
  all values from: Brain
subclass of: Restriction
  all values from: Nerves role
  on property: HasRole n
subclass of: Restriction
  on property: HasDisposition n
  all values from: Nerves disposition
disjoint with: Users

II
type: Class
subclass of: Restriction
  on property: Diameter
  has value: 12.0
subclass of: Restriction
  on property: Diameter
  has value: 6.0
subclass of: Restriction
  on property: Conduction velocity
  has value: 75.0
subclass of: Restriction
  has value: 33.0
  on property: Conduction velocity
subclass of: Nerves
disjoint with: I
disjoint with: C
disjoint with: A

C
type: Class
subclass of: Restriction
  has value: 1.5
  on property: Diameter
subclass of: Restriction
  has value: 0.2
  on property: Diameter
subclass of: Restriction
  has value: 2.0
  on property: Conduction velocity
subclass of: Restriction
  on property: Conduction velocity
  has value: 0.5
subclass of: Nerves
disjoint with: II
disjoint with: I
disjoint with: A

Primary somatic cortex
type: Class
subclass of: Restriction
  on property: Cortical receptive fields
  cardinality: 1
subclass of: Restriction
  some values from: Perception
  on property: Integrate
subclass of: Restriction
  on property: ReceiveFrom
  some values from: Receptors
subclass of: Human FiatObjectPart
subclass of: Restriction
  on property: IsPartOf b
  all values from: Brain
subclass of: Restriction
  has value: 20.0
  on property: Brain areas time response
disjoint with: Secondary somatic cortex
disjoint with: Posterior parietal cortex

Focused ultrasound displays
type: Class
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
disjoint with: Surface acoustic waves
disjoint with: Electrocutaneous displays
subclass of: Tactile displays
subclass of: Restriction
  on property: UseHumanPart
  all values from: Class
    union of: Fingertip
    union of: Palm
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Mechanical stimulus
disjoint with: Flexible surface displays
disjoint with: Small scale shape or pressure distribution displays
disjoint with: Vibration displays
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Electrorheological displays
subclass of: Restriction
  all values from: Class
    union of: Curvature
    union of: Edges
    union of: Roughness
  on property: ExtractsFeatures
disjoint with: Thermal displays

Sensation modality
type: DatatypeProperty
domain: Class
  union of: Sensors
  union of: Types of devices
  union of: Receptors
range: DataRange
  one of: Stroking
  one of: Pain
  one of: Pressure
  one of: Fluttering
  one of: Joint tension
  one of: Skin stretch
  one of: Vibration
  one of: Warmth
  one of: Muscle stretch
  one of: Muscle tension
  one of: Coldness

Surface acoustic waves
type: Class
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
subclass of: Restriction
  has value: Stroking
  on property: Sensation modality
subclass of: Restriction
  some values from: Class
    union of: Piezoelectric sensors
    union of: Capacitive based
  on property: HasSensors
subclass of: Restriction
  all values from: Electrical stimulus
  on property: ProduceStimulus
disjoint with: Flexible surface displays
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Roughness
    union of: Texture
disjoint with: Electrorheological displays
subclass of: Tactile displays
disjoint with: Vibration displays
disjoint with: Small scale shape or pressure distribution displays
disjoint with: Thermal displays
disjoint with: Focused ultrasound displays
disjoint with: Electrocutaneous displays
subclass of: Restriction
  all values from: Fingertip
  on property: UseHumanPart

Electrocutaneous displays
type: Class
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Compliance
    union of: Shape
    union of: Size
    union of: Texture
disjoint with: Thermal displays
disjoint with: Surface acoustic waves
subclass of: Restriction
  all values from: Class
    union of: Optical
    union of: Magnetic based
  on property: HasSensors
disjoint with: Electrorheological displays
disjoint with: Flexible surface displays
disjoint with: Vibration displays
disjoint with: Small scale shape or pressure distribution displays
subclass of: Tactile displays
disjoint with: Focused ultrasound displays
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Electrical stimulus
subclass of: Restriction
  all values from: Class
    union of: Fingertip
    union of: Palm
  on property: UseHumanPart

Fingertip
type: Class
disjoint with: Shoulder
subclass of: Restriction
  has value: 1
  on property: Point localization threshold
disjoint with: Arm
disjoint with: Elbow
subclass of: Restriction
  on property: Positional resolution
  has value: 1.0
subclass of: Skin surface
subclass of: Restriction
  min cardinality: 1
  on property: Positional resolution
disjoint with: Palm
subclass of: Restriction
  on property: Positional resolution
  has value: 2.5
subclass of: Restriction
  has value: 2.0
  on property: Positional resolution
subclass of: Restriction
  has value: 2
  on property: Kinesthetic resolution
subclass of: Restriction
  on property: Point localization threshold
  has value: 2
subclass of: Restriction
  on property: LocatedIn h
  all values from: Hand
subclass of: Restriction
  on property: Two point touch threshold
  has value: 2
disjoint with: Wrist
subclass of: Restriction
  has value: 4
  on property: Two point touch threshold
subclass of: Restriction
  has value: 2.5
  on property: Just Noticeable Difference
subclass of: Restriction
  on property: Positional resolution
  has value: 1.5
subclass of: Restriction
  has value: 3
  on property: Two point touch threshold
subclass of: Restriction
  all values from: Hand
  on property: IsPartOf h
subclass of: Restriction
  on property: Positional resolution
  has value: 0.5

Palm
type: Class
disjoint with: Arm
subclass of: Restriction
  on property: Positional resolution
  min cardinality: 1
subclass of: Restriction
  on property: Two point touch threshold
  has value: 11
subclass of: Skin surface
subclass of: Restriction
  has value: 7
  on property: Point localization threshold
disjoint with: Wrist
subclass of: Restriction
  has value: 0.5
  on property: Positional resolution
disjoint with: Fingertip
subclass of: Restriction
  has value: 10
  on property: Two point touch threshold
subclass of: Restriction
  on property: LocatedIn h
  all values from: Hand
subclass of: Restriction
  on property: Positional resolution
  has value: 2.5
subclass of: Restriction
  on property: Two point touch threshold
  has value: 12
subclass of: Restriction
  on property: Point localization threshold
  has value: 8
subclass of: Restriction
  on property: Positional resolution
  has value: 1.0
disjoint with: Elbow
disjoint with: Shoulder
subclass of: Restriction
  on property: IsPartOf h
  all values from: Hand
subclass of: Restriction
  on property: Positional resolution
  has value: 2.0
subclass of: Restriction
  on property: Positional resolution
  has value: 1.5

Flexible surface displays
type: Class
subclass of: Restriction
  on property: HasSensors
  some values from: Class
    union of: Resistive based
    union of: Piezoelectric sensors
    union of: Silicon based
disjoint with: Focused ultrasound displays
subclass of: Restriction
  all values from: Mechanical stimulus
  on property: ProduceStimulus
disjoint with: Thermal displays
disjoint with: Vibration displays
subclass of: Restriction
  has value: Skin stretch
  on property: Sensation modality
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Shape
    union of: Size
    union of: Curvature
    union of: Compliance
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Electrocutaneous displays
disjoint with: Electrorheological displays
disjoint with: Surface acoustic waves
subclass of: Restriction
  all values from: Class
    union of: Fingertip
    union of: Palm
  on property: UseHumanPart
disjoint with: Small scale shape or pressure distribution displays
subclass of: Tactile displays

Small scale shape or pressure distribution displays
type: Class
subclass of: Restriction
  all values from: Class
    union of: Fingertip
    union of: Palm
  on property: UseHumanPart
disjoint with: Flexible surface displays
subclass of: Restriction
  some values from: Class
    union of: Capacitive based
    union of: Piezoelectric sensors
  on property: HasSensors
disjoint with: Thermal displays
disjoint with: Surface acoustic waves
subclass of: Restriction
  all values from: Class
    union of: Shape
    union of: Curvature
    union of: Size
    union of: Texture
  on property: ExtractsFeatures
disjoint with: Focused ultrasound displays
subclass of: Tactile displays
disjoint with: Electrorheological displays
disjoint with: Vibration displays
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Electrocutaneous displays
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Mechanical stimulus

Vibration displays
type: Class
disjoint with: Electrorheological displays
disjoint with: Surface acoustic waves
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
subclass of: Restriction
  all values from: Class
    union of: Fingertip
    union of: Palm
  on property: UseHumanPart
disjoint with: Thermal displays
disjoint with: Electrocutaneous displays
subclass of: Restriction
  on property: Sensation modality
  has value: Skin stretch
disjoint with: Focused ultrasound displays
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
disjoint with: Small scale shape or pressure distribution displays
subclass of: Restriction
  some values from: Class
    union of: Piezoelectric sensors
    union of: Mechanically based
  on property: HasSensors
subclass of: Restriction
  all values from: Class
    union of: Shape
    union of: Size
    union of: Texture
  on property: ExtractsFeatures
subclass of: Tactile displays
disjoint with: Flexible surface displays

Electrorheological displays
type: Class
subclass of: Restriction
  on property: Sensation modality
  has value: Skin stretch
subclass of: Restriction
  on property: HasSensors
  some values from: Class
    union of: Optical
    union of: Piezoelectric sensors
    union of: Mechanically based
disjoint with: Surface acoustic waves
disjoint with: Small scale shape or pressure distribution displays
disjoint with: Focused ultrasound displays
disjoint with: Flexible surface displays
disjoint with: Vibration displays
disjoint with: Electrocutaneous displays
subclass of: Restriction
  on property: ExtractsFeatures
  some values from: Class
    union of: Curvature
    union of: Edges
    union of: Shape
    union of: Texture
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
subclass of: Restriction
  all values from: Electrical stimulus
  on property: ProduceStimulus
subclass of: Restriction
  all values from: Fingertip
  on property: UseHumanPart
subclass of: Tactile displays
disjoint with: Thermal displays

Thermal displays
type: Class
disjoint with: Electrocutaneous displays
disjoint with: Vibration displays
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Temperature-Thermal quality
disjoint with: Surface acoustic waves
subclass of: Restriction
  on property: HasSensors
  all values from: Thermal
disjoint with: Electrorheological displays
subclass of: Restriction
  on property: UseHumanPart
  all values from: Fingertip
subclass of: Restriction
  on property: Sensation modality
  has value: Warmth
disjoint with: Focused ultrasound displays
disjoint with: Flexible surface displays
subclass of: Tactile displays
subclass of: Restriction
  all values from: Thermal stimulus
  on property: ProduceStimulus
disjoint with: Small scale shape or pressure distribution displays
subclass of: Restriction
  on property: Sensation modality
  has value: Coldness

Thermal stimulus
type: Class
subclass of: Stimuli
subclass of: Restriction
  on property: HasTemperature
  cardinality: 1
disjoint with: Mechanical stimulus
disjoint with: Electrical stimulus
disjoint with: Force stimulus
disjoint with: Pain stimulus

Stimuli
type: Class
subclass of: Human Process
subclass of: Restriction
  on property: Stimulus duration
  cardinality: 1
disjoint with: Perception
disjoint with: Manual Exploration

Haptic device function
type: Class
subclass of: Machine function
comment: The function of a haptic device to create tactile information.
disjoint with: Sensor function
disjoint with: Actuator function

Machine function
type: Class
subclass of: Function
subclass of: Restriction
  on property: Involves
  has value: Machine
disjoint with: Human function

Kinematics modelling
type: Class
disjoint with: Geometry modelling
disjoint with: Haptic rendering
disjoint with: Feature extraction
subclass of: Machine Process
subclass of: Restriction
  all values from: Computer Haptics
  on property: IsPartOf c
comment: This determines the location of 3D objects with respect to a world system of coordinates as well as their motion in the virtual world.

Stimulus time range
type: Class
disjoint with: Cortical neurons activation
disjoint with: Brain processing duration
disjoint with: Nerve fibers transmission time
disjoint with: Receptors stimulation
subclass of: TemporalInterval
subclass of: Restriction
  on property: Involves
  has value: Human
subclass of: Restriction
  on property: IsPartOf hci
  all values from: Haptic interaction

Cortical neurons activation
type: Class
disjoint with: Stimulus time range
disjoint with: Brain processing duration
disjoint with: Nerve fibers transmission time
disjoint with: Receptors stimulation
subclass of: TemporalInterval
subclass of: Restriction
  has value: Human
  on property: Involves
subclass of: Restriction
  all values from: Haptic interaction
  on property: IsPartOf hci

Brain processing duration
type: Class
subclass of: TemporalInterval
subclass of: Restriction
  on property: Involves
  has value: Human
subclass of: Restriction
  on property: IsPartOf hci
  all values from: Haptic interaction
disjoint with: Stimulus time range
disjoint with: Cortical neurons activation
disjoint with: Receptors stimulation
disjoint with: Nerve fibers transmission time

Nerve fibers transmission time
type: Class
disjoint with: Stimulus time range
disjoint with: Brain processing duration
disjoint with: Cortical neurons activation
disjoint with: Receptors stimulation
subclass of: TemporalInterval
subclass of: Restriction
  on property: Involves
  has value: Human
subclass of: Restriction
  on property: IsPartOf hci
  all values from: Haptic interaction

Receptors stimulation
type: Class
disjoint with: Stimulus time range
disjoint with: Brain processing duration
disjoint with: Cortical neurons activation
disjoint with: Nerve fibers transmission time
subclass of: TemporalInterval
subclass of: Restriction
  on property: Involves
  has value: Human
subclass of: Restriction
  on property: IsPartOf hci
  all values from: Haptic interaction

Machine Disposition
type: Class
disjoint with: Human Disposition
subclass of: Disposition
subclass of: Restriction
  on property: Involves
  has value: Machine

Human Disposition
type: Class
disjoint with: Machine Disposition
subclass of: Disposition
subclass of: Restriction
  on property: Involves
  has value: Human

Machine ObjectBoundary
type: Class
disjoint with: Human ObjectBoundary
subclass of: ObjectBoundary
subclass of: Restriction
  on property: Involves
  has value: Machine

Human ObjectBoundary
type: Class
disjoint with: Machine ObjectBoundary
subclass of: ObjectBoundary
subclass of: Restriction
  on property: Involves
  has value: Human

Thermal pain stimulus
type: Class
subclass of: Pain stimulus
subclass of: Restriction
  on property: HasTemperature
  cardinality: 1
disjoint with: Electrical pain stimulus
disjoint with: Mechanical pain stimulus
disjoint with: Chemical pain stimulus

RA II
type: Class
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
subclass of: Restriction
  has value: Large
  on property: Receptive field
subclass of: Restriction
  has value: 21
  on property: Density
subclass of: Restriction
  has value: Rapid
  on property: Adaptation rate
disjoint with: RA I
subclass of: Restriction
  on property: Frequency range
  has value: 800.0
subclass of: Restriction
  on property: Frequency range
  has value: 40.0
subclass of: Restriction
  all values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus
  on property: ActivatedBy
subclass of: Restriction
  has value: 200.0
  on property: Most sensitive at
subclass of: Rapidly adapting
subclass of: Restriction
  on property: Most sensitive at
  has value: 300.0

Receptive field
type: DatatypeProperty
domain: Receptors
comment: Receptors in different areas of the skin have different receptive fields
range: DataRange
  one of: Small
  one of: Large

Density
type: DatatypeProperty
range: int
comment: Receptors/cm^2 . Density differs if a receptor is located in fingertip, palm, arm, joints, muscles
domain: Receptors

Adaptation rate
type: DatatypeProperty
domain: Mechanoreceptors
range: DataRange
  one of: Rapid
  one of: Slow

RA I
type: Class
disjoint with: RA II
subclass of: Restriction
  has value: 20.0
  on property: Most sensitive at
subclass of: Restriction
  has value: 10.0
  on property: Frequency range
subclass of: Rapidly adapting
subclass of: Restriction
  on property: Sensation modality
  has value: Stroking
subclass of: Restriction
  all values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus
  on property: ActivatedBy
subclass of: Restriction
  has value: 140
  on property: Density
subclass of: Restriction
  on property: Adaptation rate
  has value: Rapid
subclass of: Restriction
  on property: Frequency range
  has value: 300.0
subclass of: Restriction
  on property: Sensation modality
  has value: Fluttering
subclass of: Restriction
  on property: Receptive field
  has value: Small
subclass of: Restriction
  has value: 50.0
  on property: Most sensitive at

Frequency range
type: DatatypeProperty
domain: Receptors
comment: RA I: 10-300 Hz RA II: 40-800 Hz SA I: 0.4-100 Hz SA II: 7 Hz Joint receptors: 0.1-2 Hz Muscle receptors: 0.1-3 Hz
range: float

Posterior parietal cortex
type: Class
disjoint with: Secondary somatic cortex
disjoint with: Primary somatic cortex
subclass of: Restriction
  cardinality: 1
  on property: Cortical receptive fields
subclass of: Restriction
  some values from: Perception
  on property: Integrate
subclass of: Restriction
  on property: ReceiveFrom
  some values from: Receptors
subclass of: Human FiatObjectPart
subclass of: Restriction
  on property: IsPartOf b
  all values from: Brain
subclass of: Restriction
  has value: 30.0
  on property: Brain areas time response

SA I
type: Class
subclass of: Restriction
  has value: 70
  on property: Density
subclass of: Restriction
  on property: Frequency range
  has value: 0.4
subclass of: Restriction
  on property: Frequency range
  has value: 100.0
subclass of: Restriction
  on property: Adaptation rate
  has value: Slow
subclass of: Restriction
  on property: Most sensitive at
  has value: 7.0
subclass of: Restriction
  on property: Receptive field
  has value: Small
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
subclass of: Slowly adapting
disjoint with: SA II

SA II
type: Class
subclass of: Restriction
  has value: Slow
  on property: Adaptation rate
subclass of: Slowly adapting
subclass of: Restriction
  has value: Skin stretch
  on property: Sensation modality
subclass of: Restriction
  on property: Density
  has value: 9
subclass of: Restriction
  on property: Frequency range
  has value: 7.0
subclass of: Restriction
  on property: Most sensitive at
  has value: 7.0
subclass of: Restriction
  on property: Receptive field
  has value: Large
disjoint with: SA I

Human quality
type: Class
disjoint with: Machine quality
subclass of: Quality
subclass of: Restriction
  has value: Human
  on property: Involves

Magnetic based
type: Class
disjoint with: Force-torque
disjoint with: Capacitive based
disjoint with: Silicon based
disjoint with: Motion
disjoint with: Thermal
disjoint with: Resistive based
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
disjoint with: Multi stimuli touch
disjoint with: Optical
subclass of: Restriction
  all values from: Force stimulus
  on property: SenseStimuli
disjoint with: Mechanically based
disjoint with: Ultrasonic
disjoint with: Piezoelectric sensors
subclass of: Sensors

Force-torque
type: Class
subclass of: Restriction
  has value: Joint tension
  on property: Sensation modality
disjoint with: Ultrasonic
disjoint with: Capacitive based
disjoint with: Piezoelectric sensors
disjoint with: Mechanically based
disjoint with: Multi stimuli touch
disjoint with: Magnetic based
disjoint with: Motion
disjoint with: Silicon based
subclass of: Restriction
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
  on property: SenseStimuli
disjoint with: Optical
subclass of: Sensors
disjoint with: Thermal
disjoint with: Resistive based
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure

Capacitive based
type: Class
disjoint with: Mechanically based
disjoint with: Force-torque
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
subclass of: Restriction
  all values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus
  on property: SenseStimuli
disjoint with: Ultrasonic
subclass of: Sensors
subclass of: Restriction
  on property: Sensation modality
  has value: Stroking
disjoint with: Multi stimuli touch
disjoint with: Resistive based
disjoint with: Piezoelectric sensors
disjoint with: Thermal
disjoint with: Silicon based
disjoint with: Optical
disjoint with: Motion
disjoint with: Magnetic based

Silicon based
type: Class
disjoint with: Optical
disjoint with: Force-torque
disjoint with: Capacitive based
subclass of: Restriction
  has value: Skin stretch
  on property: Sensation modality
subclass of: Restriction
  some values from: Mechanical stimulus
  on property: SenseStimuli
disjoint with: Motion
disjoint with: Ultrasonic
disjoint with: Piezoelectric sensors
disjoint with: Mechanically based
disjoint with: Resistive based
disjoint with: Multi stimuli touch
disjoint with: Thermal
disjoint with: Magnetic based
subclass of: Sensors

Motion
type: Class
subclass of: Restriction
  on property: Sensation modality
  has value: Muscle tension
disjoint with: Ultrasonic
disjoint with: Optical
disjoint with: Resistive based
subclass of: Sensors
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
disjoint with: Thermal
disjoint with: Force-torque
disjoint with: Mechanically based
disjoint with: Magnetic based
subclass of: Restriction
  on property: Sensation modality
  has value: Muscle stretch
subclass of: Restriction
  on property: SenseStimuli
  all values from: Force stimulus
disjoint with: Silicon based
disjoint with: Multi stimuli touch
disjoint with: Capacitive based
disjoint with: Piezoelectric sensors

Thermal
type: Class
subclass of: Restriction
  on property: SenseStimuli
  all values from: Thermal stimulus
disjoint with: Silicon based
disjoint with: Motion
disjoint with: Magnetic based
disjoint with: Multi stimuli touch
disjoint with: Mechanically based
subclass of: Restriction
  on property: Sensation modality
  has value: Coldness
disjoint with: Piezoelectric sensors
disjoint with: Capacitive based
disjoint with: Force-torque
disjoint with: Ultrasonic
subclass of: Sensors
disjoint with: Optical
disjoint with: Resistive based
subclass of: Restriction
  has value: Warmth
  on property: Sensation modality

Resistive based
type: Class
disjoint with: Silicon based
subclass of: Restriction
  on property: SenseStimuli
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
disjoint with: Magnetic based
disjoint with: Piezoelectric sensors
subclass of: Restriction
  has value: Skin stretch
  on property: Sensation modality
disjoint with: Thermal
disjoint with: Capacitive based
disjoint with: Mechanically based
disjoint with: Force-torque
subclass of: Sensors
disjoint with: Multi stimuli touch
disjoint with: Motion
disjoint with: Ultrasonic
disjoint with: Optical

Multi stimuli touch
type: Class
disjoint with: Mechanically based
disjoint with: Optical
disjoint with: Force-torque
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Piezoelectric sensors
disjoint with: Resistive based
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
disjoint with: Thermal
disjoint with: Silicon based
subclass of: Restriction
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
    union of: Electrical stimulus
  on property: SenseStimuli
disjoint with: Motion
disjoint with: Magnetic based
subclass of: Sensors
disjoint with: Capacitive based
disjoint with: Ultrasonic

Optical
type: Class
disjoint with: Capacitive based
subclass of: Restriction
  on property: SenseStimuli
  some values from: Class
    union of: Electrical stimulus
    union of: Force stimulus
disjoint with: Ultrasonic
disjoint with: Motion
disjoint with: Resistive based
subclass of: Sensors
subclass of: Restriction
  on property: Sensation modality
  has value: Fluttering
disjoint with: Silicon based
disjoint with: Force-torque
disjoint with: Magnetic based
subclass of: Restriction
  on property: Sensation modality
  has value: Skin stretch
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Thermal
disjoint with: Mechanically based
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Multi stimuli touch
disjoint with: Piezoelectric sensors

Mechanically based
type: Class
disjoint with: Multi stimuli touch
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
disjoint with: Motion
disjoint with: Optical
disjoint with: Force-torque
disjoint with: Piezoelectric sensors
disjoint with: Magnetic based
subclass of: Restriction
  on property: SenseStimuli
  all values from: Mechanical stimulus
disjoint with: Silicon based
disjoint with: Ultrasonic
disjoint with: Capacitive based
subclass of: Sensors
disjoint with: Resistive based
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
disjoint with: Thermal

Ultrasonic
type: Class
disjoint with: Force-torque
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Thermal
disjoint with: Capacitive based
disjoint with: Multi stimuli touch
subclass of: Restriction
  on property: SenseStimuli
  all values from: Mechanical stimulus
disjoint with: Motion
disjoint with: Mechanically based
disjoint with: Optical
disjoint with: Piezoelectric sensors
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
disjoint with: Magnetic based
subclass of: Sensors
disjoint with: Silicon based
disjoint with: Resistive based

Piezoelectric sensors
type: Class
disjoint with: Motion
disjoint with: Capacitive based
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
disjoint with: Optical
disjoint with: Multi stimuli touch
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Force-torque
disjoint with: Mechanically based
disjoint with: Silicon based
disjoint with: Resistive based
subclass of: Restriction
  on property: Sensation modality
  has value: Skin stretch
disjoint with: Thermal
disjoint with: Ultrasonic
subclass of: Sensors
disjoint with: Magnetic based
subclass of: Restriction
  on property: SenseStimuli
  some values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus

Sensors
type: Class
subclass of: Restriction
  on property: IsPartOf d
  all values from: Types of devices
subclass of: Restriction
  on property: Sensitivity
  cardinality: 1
subclass of: Restriction
  on property: HasRole s
  all values from: Sensor role
subclass of: Restriction
  on property: HasFunction s
  all values from: Sensor function
subclass of: Restriction
  on property: Sensor bandwidth
  cardinality: 1
disjoint with: Actuators
subclass of: Restriction
  some values from: Stimuli
  on property: SenseStimuli
subclass of: Restriction
  on property: HasDisposition s
  all values from: Sensor disposition
subclass of: Restriction
  on property: Sensation modality
  min cardinality: 1
disjoint with: Virtual objects
subclass of: Machine Object
subclass of: Restriction
  cardinality: 1
  on property: Sensory area
comment: 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.

Nerves disposition
type: Class
disjoint with: Cortical neurons disposition
disjoint with: Receptors disposition
subclass of: Human Disposition
comment: The disposition of nerves to transfer haptic information when receptors are activated.

Cortical neurons disposition
type: Class
subclass of: Human Disposition
disjoint with: Nerves disposition
disjoint with: Receptors disposition
comment: The disposition of cortical neurons to process tactile information delivered by nerve fibers.

Receptors disposition
type: Class
comment: The disposition of the receptors to be activated when there is a stimulus.
disjoint with: Cortical neurons disposition
disjoint with: Nerves disposition
subclass of: Human Disposition

Muscles
type: Class
comment: Muscles are occupied by other continuants (muscle spindles).
disjoint with: Nerve canals
disjoint with: Joints
disjoint with: Cranial cavity
subclass of: Human Site
subclass of: Restriction
  on property: LocatedIn a
  all values from: Arm

Nerve canals
type: Class
comment: Nerve canals are sites-entities that can be occupied by other continuants (nerves).
subclass of: Human Site
subclass of: Restriction
  on property: HasFunction n
  all values from: Neural canals function
disjoint with: Muscles
disjoint with: Joints
disjoint with: Cranial cavity

Joints
type: Class
comment: Joints are occupied by other continuants (joint tendons).
disjoint with: Muscles
disjoint with: Nerve canals
disjoint with: Cranial cavity
subclass of: Human Site
subclass of: Restriction
  on property: LocatedIn a
  all values from: Arm

Cranial cavity
type: Class
comment: Cranial cavity is a site occupied by another entity (brain).
subclass of: Human Site
disjoint with: Joints
disjoint with: Muscles
disjoint with: Nerve canals

Arm
type: Class
subclass of: Restriction
  has value: 10
  on property: Point localization threshold
subclass of: Skin surface
subclass of: Restriction
  on property: Point localization threshold
  has value: 9
subclass of: Restriction
  on property: Two point touch threshold
  has value: 40
disjoint with: Wrist
subclass of: Restriction
  on property: Two point touch threshold
  has value: 44
disjoint with: Fingertip
subclass of: Restriction
  on property: IsPartOf s
  all values from: Skin surface
subclass of: Restriction
  has value: 42
  on property: Two point touch threshold
disjoint with: Palm
disjoint with: Shoulder
subclass of: Restriction
  has value: 38
  on property: Two point touch threshold
subclass of: Restriction
  on property: Point localization threshold
  has value: 8
disjoint with: Elbow

Elbow
type: Class
subclass of: Restriction
  has value: 98.4
  on property: Force
disjoint with: Fingertip
subclass of: Restriction
  has value: 2.0
  on property: Just Noticeable Difference
disjoint with: Wrist
disjoint with: Palm
subclass of: Skin surface
disjoint with: Shoulder
disjoint with: Arm
subclass of: Restriction
  on property: Force
  has value: 49.1

Force
type: DatatypeProperty
range: float
comment: The forces produced by a haptic device and the forces that can be "sensed" by the skin surface
domain: Class
  union of: Types of devices
  union of: Skin surface

Just Noticeable Difference
type: DatatypeProperty
domain: Skin surface
range: DataRange
  one of: 0.8
  one of: 2.0
  one of: 2.5

Wrist
type: Class
disjoint with: Fingertip
disjoint with: Shoulder
subclass of: Skin surface
subclass of: Restriction
  has value: 64.3
  on property: Force
disjoint with: Arm
subclass of: Restriction
  has value: 35.5
  on property: Force
subclass of: Restriction
  on property: Kinesthetic resolution
  has value: 2
subclass of: Restriction
  has value: 2.0
  on property: Just Noticeable Difference
disjoint with: Palm
disjoint with: Elbow

Skin surface
type: Class
disjoint with: Brain cortex
subclass of: Restriction
  has value: 5.0
  on property: Temporal capacity
subclass of: Restriction
  on property: Kinesthetic resolution
  cardinality: 1
subclass of: Human ObjectBoundary
subclass of: Restriction
  on property: Just Noticeable Difference
  cardinality: 1
subclass of: Restriction
  on property: Force
  min cardinality: 1
subclass of: Restriction
  on property: Spatial resolution
  min cardinality: 1

Shoulder
type: Class
disjoint with: Fingertip
subclass of: Restriction
  has value: 101.5
  on property: Force
subclass of: Restriction
  has value: 0.8
  on property: Just Noticeable Difference
disjoint with: Arm
disjoint with: Elbow
subclass of: Skin surface
disjoint with: Palm
disjoint with: Wrist
subclass of: Restriction
  has value: 1
  on property: Kinesthetic resolution
subclass of: Restriction
  has value: 45
  on property: Two point touch threshold
subclass of: Restriction
  on property: Force
  has value: 68.7
subclass of: Restriction
  on property: Point localization threshold
  has value: 12

Machine role
type: Class
disjoint with: Human role
subclass of: Role
subclass of: Restriction
  has value: Machine
  on property: Involves

Human ZeroDimensionalRegion
type: Class
disjoint with: Machine ZeroDimensionalRegion
subclass of: ZeroDimensionalRegion
subclass of: Restriction
  on property: Involves
  has value: Human

Actuators
type: Class
subclass of: Machine Object
disjoint with: Sensors
subclass of: Restriction
  some values from: Haptic signals
  on property: ProduceSignals
disjoint with: Virtual objects
comment: Parts of the haptic devices. Mechanisms to introduce motion or to clamp an object so as to prevent motion.
subclass of: Restriction
  all values from: Actuator function
  on property: HasFunction a
subclass of: Restriction
  on property: Displacement
  cardinality: 1
subclass of: Restriction
  on property: HasRole a
  all values from: Actuator role
subclass of: Restriction
  all values from: Actuator disposition
  on property: HasDisposition a
subclass of: Restriction
  all values from: Types of devices
  on property: IsPartOf d
subclass of: Restriction
  on property: Response time
  cardinality: 1
subclass of: Restriction
  cardinality: 1
  on property: Energy consumption

Cold receptors
type: Class
subclass of: Thermoreceptors
subclass of: Restriction
  on property: ConnectedThrough
  all values from: Aδ
subclass of: Restriction
  has value: Coldness
  on property: Sensation modality
subclass of: Restriction
  has value: 25.0
  on property: Most sensitive at
disjoint with: Warm receptors

Thermoreceptors
type: Class
disjoint with: Mechanoreceptors
subclass of: Receptors
subclass of: Restriction
  min cardinality: 1
  on property: Temperature sensitivity
subclass of: Restriction
  on property: LocatedIn s
  all values from: Skin surface
subclass of: Restriction
  max cardinality: 2
  on property: Receptive field
disjoint with: Nociceptors
comment: They are activated when they sense skin changes in temperature.
subclass of: Restriction
  on property: ActivatedBy
  all values from: Thermal stimulus
disjoint with: Proprioceptors

Aδ
type: Class
disjoint with: Aβ
subclass of: Restriction
  has value: 5.0
  on property: Diameter
subclass of: Restriction
  on property: Diameter
  has value: 1.0
subclass of: Restriction
  has value: 30.0
  on property: Conduction velocity
subclass of: Restriction
  on property: Conduction velocity
  has value: 3.0
subclass of: A

Warm receptors
type: Class
subclass of: Thermoreceptors
subclass of: Restriction
  all values from: C
  on property: ConnectedThrough
subclass of: Restriction
  has value: Warmth
  on property: Sensation modality
subclass of: Restriction
  on property: Most sensitive at
  has value: 45.0
disjoint with: Cold receptors

Computer Haptics
type: Class
comment: Contain 4 stages of processes: 1. Geometry modelling 2. Kinematics modelling 3. Physical modelling 4. Feature extraction
subclass of: Machine ProcessAggregate
subclass of: Restriction
  all values from: Actuators
  on property: SendCommands

Machine ProcessAggregate
type: Class
subclass of: ProcessAggregate
subclass of: Restriction
  has value: Machine
  on property: Involves

Location of stimulus
type: Class
subclass of: SpatiotemporalInstant
subclass of: Restriction
  has value: Human
  on property: Involves
subclass of: Restriction
  on property: IsPartOf hci
  all values from: Haptic interaction

Human ObjectAggregate
type: Class
equivalent class: Restriction
  has value: Human
  on property: Involves
subclass of: ObjectAggregate
disjoint with: Machine ObjectAggregate

Machine ObjectAggregate
type: Class
disjoint with: Human ObjectAggregate
subclass of: ObjectAggregate
subclass of: Restriction
  has value: Machine
  on property: Involves

Locomotion interfaces
type: Class
disjoint with: Haptic gloves
disjoint with: Full body force feedback devices
subclass of: Restriction
  has value: Stroking
  on property: Sensation modality
subclass of: Restriction
  on property: HasSensors
  all values from: Force-torque
subclass of: Restriction
  on property: Sensation modality
  has value: Fluttering
subclass of: Restriction
  some values from: Class
    union of: Arm
    union of: Elbow
    union of: Fingertip
    union of: Palm
    union of: Shoulder
    union of: Wrist
  on property: UseHumanPart
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Orientation
    union of: Size
disjoint with: Motion platforms
subclass of: Restriction
  all values from: Mechanical stimulus
  on property: ProduceStimulus
disjoint with: Exoskeletal devices
disjoint with: Wearable devices
subclass of: Body based devices

Haptic gloves
type: Class
disjoint with: Exoskeletal devices
subclass of: Restriction
  all values from: Class
    union of: Texture
    union of: Weight volume
  on property: ExtractsFeatures
disjoint with: Locomotion interfaces
disjoint with: Full body force feedback devices
subclass of: Restriction
  all values from: Class
    union of: Fingertip
    union of: Palm
  on property: UseHumanPart
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
subclass of: Restriction
  all values from: Magnetic based
  on property: HasSensors
subclass of: Restriction
  on property: ProduceStimulus
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
disjoint with: Wearable devices
subclass of: Body based devices
disjoint with: Motion platforms
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration

Full body force feedback devices
type: Class
subclass of: Restriction
  all values from: Orientation
  on property: ExtractsFeatures
disjoint with: Haptic gloves
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Wearable devices
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Force stimulus
disjoint with: Locomotion interfaces
subclass of: Restriction
  on property: Sensation modality
  has value: Muscle stretch
disjoint with: Exoskeletal devices
subclass of: Body based devices
disjoint with: Motion platforms
subclass of: Restriction
  on property: HasSensors
  all values from: Force-torque
subclass of: Restriction
  some values from: Skin surface
  on property: UseHumanPart

Motion platforms
type: Class
subclass of: Restriction
  has value: Muscle stretch
  on property: Sensation modality
disjoint with: Exoskeletal devices
subclass of: Restriction
  has value: Joint tension
  on property: Sensation modality
subclass of: Body based devices
subclass of: Restriction
  on property: HasSensors
  all values from: Class
    union of: Force-torque
    union of: Motion
disjoint with: Wearable devices
subclass of: Restriction
  all values from: Orientation
  on property: ExtractsFeatures
subclass of: Restriction
  has value: Muscle tension
  on property: Sensation modality
disjoint with: Haptic gloves
subclass of: Restriction
  some values from: Class
    union of: Arm
    union of: Elbow
    union of: Fingertip
    union of: Palm
    union of: Shoulder
    union of: Wrist
  on property: UseHumanPart
disjoint with: Locomotion interfaces
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Force stimulus
disjoint with: Full body force feedback devices

Exoskeletal devices
type: Class
subclass of: Restriction
  all values from: Force-torque
  on property: HasSensors
subclass of: Body based devices
disjoint with: Full body force feedback devices
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Force stimulus
subclass of: Restriction
  on property: UseHumanPart
  all values from: Arm
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Shape
    union of: Orientation
disjoint with: Wearable devices
disjoint with: Locomotion interfaces
subclass of: Restriction
  has value: Pressure
  on property: Sensation modality
disjoint with: Motion platforms
disjoint with: Haptic gloves
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension

Wearable devices
type: Class
subclass of: Restriction
  some values from: Class
    union of: Arm
    union of: Elbow
    union of: Fingertip
    union of: Palm
    union of: Shoulder
    union of: Wrist
  on property: UseHumanPart
subclass of: Restriction
  all values from: Class
    union of: Multi stimuli touch
    union of: Motion
  on property: HasSensors
disjoint with: Motion platforms
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Locomotion interfaces
disjoint with: Haptic gloves
subclass of: Body based devices
subclass of: Restriction
  all values from: Class
    union of: Orientation
    union of: Compliance
  on property: ExtractsFeatures
disjoint with: Full body force feedback devices
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Class
    union of: Mechanical stimulus
    union of: Electrical stimulus
subclass of: Restriction
  on property: Sensation modality
  has value: Pressure
disjoint with: Exoskeletal devices

Receptors
type: Class
subclass of: Restriction
  min cardinality: 1
  on property: Sensation modality
disjoint with: Users
subclass of: Restriction
  min cardinality: 1
  on property: Frequency range
subclass of: Human ObjectAggregate
subclass of: Restriction
  on property: HasDisposition r
  all values from: Receptors disposition
disjoint with: Nerves
subclass of: Restriction
  min cardinality: 1
  on property: Density
subclass of: Restriction
  min cardinality: 1
  on property: Most sensitive at
subclass of: Restriction
  all values from: Receptors activation function
  on property: HasFunction r
subclass of: Restriction
  on property: HasRole r
  all values from: Receptors role

Temperature sensitivity
type: DatatypeProperty
range: int
domain: Thermoreceptors
comment: In Celcius degrees, warm receptors activated at 29-45 and cold receptors 5-40

Nociceptors
type: Class
disjoint with: Thermoreceptors
subclass of: Restriction
  all values from: Skin surface
  on property: LocatedIn s
subclass of: Restriction
  all values from: Class
    union of: Aδ
    union of: C
  on property: ConnectedThrough
subclass of: Restriction
  on property: Sensation modality
  has value: Pain
disjoint with: Proprioceptors
subclass of: Restriction
  max cardinality: 2
  on property: Receptive field
disjoint with: Mechanoreceptors
comment: They are responsible for the pain signals that can damage the skin tissue.
subclass of: Receptors

Proprioceptors
type: Class
subclass of: Restriction
  max cardinality: 2
  on property: Receptive field
subclass of: Receptors
subclass of: Restriction
  some values from: Class
    union of: I
    union of: II
  on property: ConnectedThrough
subclass of: Restriction
  on property: LocatedIn p
  all values from: Class
    union of: Muscles
    union of: Joints
subclass of: Restriction
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
  on property: ActivatedBy
disjoint with: Nociceptors
disjoint with: Thermoreceptors
disjoint with: Mechanoreceptors

Secondary somatic cortex
type: Class
subclass of: Restriction
  cardinality: 1
  on property: Cortical receptive fields
subclass of: Restriction
  some values from: Perception
  on property: Integrate
subclass of: Human FiatObjectPart
subclass of: Restriction
  all values from: Primary somatic cortex
  on property: ReceiveFromPrimary
subclass of: Restriction
  on property: IsPartOf b
  all values from: Brain
subclass of: Restriction
  on property: Brain areas time response
  has value: 50.0
disjoint with: Primary somatic cortex
disjoint with: Posterior parietal cortex

Cortical receptive fields
type: FunctionalProperty
type: DatatypeProperty
domain: Class
  union of: Primary somatic cortex
  union of: Secondary somatic cortex
  union of: Posterior parietal cortex
range: DataRange
  one of: Large
  one of: Small
comment: They become progressivley more complex with each stage of information processing and they are larger than the receptors fields.

Human FiatObjectPart
type: Class
disjoint with: Machine FiatObjectPart
subclass of: FiatObjectPart
subclass of: Restriction
  has value: Human
  on property: Involves

Brain areas time response
type: DatatypeProperty
comment: In msec
range: float
domain: Class
  union of: Primary somatic cortex
  union of: Secondary somatic cortex
  union of: Posterior parietal cortex

Machine ZeroDimensionalRegion
type: Class
subclass of: ZeroDimensionalRegion
subclass of: Restriction
  on property: Involves
  has value: Machine
disjoint with: Human ZeroDimensionalRegion

Types of devices
type: Class
subclass of: Restriction
  min cardinality: 1
  on property: Force
subclass of: Restriction
  all values from: Haptic device disposition
  on property: HasDisposition d
subclass of: Restriction
  on property: Device resolution
  cardinality: 1
subclass of: Restriction
  cardinality: 1
  on property: Precision
subclass of: Restriction
  min cardinality: 3
  on property: HasActuators
subclass of: Restriction
  min cardinality: 3
  on property: HasSensors
subclass of: Restriction
  on property: Degrees of freedom
  cardinality: 1
subclass of: Restriction
  min cardinality: 1
  on property: Motion range
subclass of: Restriction
  on property: Peak acceleration
  cardinality: 1
subclass of: Restriction
  cardinality: 1
  on property: Crosstalk
subclass of: Machine ObjectAggregate
subclass of: Restriction
  cardinality: 1
  on property: Friction
subclass of: Restriction
  cardinality: 1
  on property: Peak force
subclass of: Restriction
  on property: HasFunction d
  all values from: Haptic device function
subclass of: Restriction
  on property: Distortion
  cardinality: 1
subclass of: Restriction
  all values from: Haptic device role
  on property: HasRole d
subclass of: Restriction
  on property: Device frequency
  min cardinality: 1
subclass of: Restriction
  on property: Sensation modality
  min cardinality: 1
subclass of: Restriction
  min cardinality: 1
  on property: Bandwidth
subclass of: Class
  complement of: Restriction
    all values from: Pain stimulus
    on property: ProduceStimulus

Response time
type: DatatypeProperty
range: DataRange
  one of: 1
  one of: 20
  one of: 30
  one of: 40
  one of: 80
domain: Actuators
comment: In ms

Receptors role
type: Class
subclass of: Human role
comment: The role of the skin receptors to transmit information to the nerve fibers.
disjoint with: Nerves role
disjoint with: Brain role

Human role
type: Class
subclass of: Role
subclass of: Restriction
  on property: Involves
  has value: Human
disjoint with: Machine role

Nerves role
type: Class
comment: The_role_of_the_nerves_to_drive_tactile_signals_through_different_pathways.
disjoint with: Receptors role
disjoint with: Brain role
subclass of: Human role

Brain role
type: Class
comment: The role of the brain to tactile perception integration.
disjoint with: Receptors role
disjoint with: Nerves role
subclass of: Human role

Temporal capacity
type: DatatypeProperty
comment: In msec
domain: Skin surface
range: DataRange
  one of: 5.0

Kinesthetic resolution
type: DatatypeProperty
domain: Skin surface
range: DataRange
  one of: 1
  one of: 2
comment: In degrees

Spatial resolution
type: DatatypeProperty
comment: In mm
domain: Skin surface

Diameter
type: DatatypeProperty
comment: In μm
range: DataRange
  one of: 0.2
  one of: 0.5
  one of: 1.0
  one of: 1.5
  one of: 2.0
  one of: 3.0
  one of: 5.0
  one of: 6.0
  one of: 7.0
  one of: 8.0
  one of: 9.0
  one of: 10.0
  one of: 15.0
  one of: 20.0
  one of: 13.0
  one of: 12.0
domain: Nerves

Manual Exploration
type: Class
subclass of: Restriction
  on property: ExploresObject
  some values from: Feature extraction
subclass of: Human Process
comment: The sensory receptors under the skin, and in muscles, tendons, and joints, become activated not only through contact with an object but through movement.
disjoint with: Perception
disjoint with: Stimuli

Human Process
type: Class
disjoint with: Machine Process
subclass of: Process
subclass of: Restriction
  has value: Human
  on property: Involves

Muscle receptors
type: Class
subclass of: Restriction
  has value: 2.0
  on property: Frequency range
subclass of: Restriction
  all values from: Class
    union of: Ia
    union of: II
  on property: ConnectedThrough
subclass of: Restriction
  has value: 1.0
  on property: Frequency range
subclass of: Proprioceptors
subclass of: Restriction
  on property: Frequency range
  has value: 0.1
subclass of: Restriction
  has value: Muscle stretch
  on property: Sensation modality
subclass of: Restriction
  has value: Muscle tension
  on property: Sensation modality
subclass of: Restriction
  has value: 3.0
  on property: Frequency range
disjoint with: Joint receptors

Conduction velocity
type: DatatypeProperty
domain: Nerves
range: DataRange
  one of: 0.5
  one of: 2.0
  one of: 3.0
  one of: 30.0
  one of: 33.0
  one of: 75.0
  one of: 80.0
  one of: 120.0

Aβ
type: Class
subclass of: Restriction
  on property: Diameter
  has value: 12.0
subclass of: Restriction
  on property: Diameter
  has value: 6.0
subclass of: Restriction
  has value: 75.0
  on property: Conduction velocity
subclass of: Restriction
  on property: Conduction velocity
  has value: 33.0
subclass of: A
disjoint with: Aδ

Two point touch threshold
type: DatatypeProperty
sub property of: Spatial resolution
comment: Represents the smallest spatial separation between two stimuli applied to the skin that caan be detected some arbitrary percentage of the time.

Point localization threshold
type: DatatypeProperty
comment: 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.
sub property of: Spatial resolution

Machine FiatObjectPart
type: Class
subclass of: FiatObjectPart
subclass of: Restriction
  has value: Machine
  on property: Involves
disjoint with: Human FiatObjectPart

Geometry modelling
type: Class
comment: or: Stimulus modelling. Describes the shape of virtual objects (polygons, triangles, vertices, splines) as well as their appearance (surface texture, surface illumination and color).
disjoint with: Kinematics modelling
disjoint with: Haptic rendering
disjoint with: Feature extraction
subclass of: Restriction
  on property: RepresentGeometry
  some values from: Class
    union of: Shape
    union of: Size
    union of: Orientation
    union of: Weight volume
subclass of: Machine Process
subclass of: Restriction
  all values from: Computer Haptics
  on property: IsPartOf c

Machine Process
type: Class
subclass of: Process
subclass of: Restriction
  has value: Machine
  on property: Involves
disjoint with: Human Process

Joint receptors
type: Class
subclass of: Restriction
  has value: Skin stretch
  on property: Sensation modality
subclass of: Restriction
  on property: Frequency range
  has value: 0.1
disjoint with: Muscle receptors
subclass of: Restriction
  on property: Frequency range
  has value: 2.0
subclass of: Restriction
  has value: Joint tension
  on property: Sensation modality
subclass of: Restriction
  on property: ConnectedThrough
  all values from: Ib
subclass of: Restriction
  on property: Frequency range
  has value: 1.0
subclass of: Proprioceptors
subclass of: Restriction
  on property: Frequency range
  has value: 0.5

Ib
type: Class
disjoint with: Ia
subclass of: Restriction
  on property: Diameter
  has value: 20.0
subclass of: Restriction
  on property: Diameter
  has value: 13.0
subclass of: Restriction
  has value: 120.0
  on property: Conduction velocity
subclass of: Restriction
  has value: 80.0
  on property: Conduction velocity
subclass of: I

Sensitivity
type: DatatypeProperty
comment: The minimum input of physical parameter that will create a detectable output (0.4-10 N) change
domain: Sensors

Sensor bandwidth
type: DatatypeProperty
domain: Sensors
range: float
comment: Minimum 100 Hz

Haptic mice
type: Class
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Force feedback devices
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
disjoint with: Hand controllers
subclass of: Restriction
  on property: ProduceStimulus
  all values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Curvature
    union of: Edges
    union of: Compliance
    union of: Roughness
subclass of: Ground based devices
subclass of: Restriction
  all values from: Force-torque
  on property: HasSensors
subclass of: Restriction
  on property: Sensation modality
  has value: Skin stretch
disjoint with: Joysticks
subclass of: Restriction
  on property: UseHumanPart
  all values from: Class
    union of: Palm
    union of: Wrist

Force feedback devices
type: Class
subclass of: Restriction
  on property: ExtractsFeatures
  all values from: Class
    union of: Shape
    union of: Texture
    union of: Compliance
    union of: Weight volume
disjoint with: Haptic mice
subclass of: Restriction
  on property: ProduceStimulus
  some values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
subclass of: Ground based devices
subclass of: Restriction
  has value: Muscle stretch
  on property: Sensation modality
subclass of: Restriction
  has value: Vibration
  on property: Sensation modality
disjoint with: Hand controllers
disjoint with: Joysticks
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
subclass of: Restriction
  on property: UseHumanPart
  some values from: Class
    union of: Arm
    union of: Wrist
    union of: Palm
    union of: Hand
subclass of: Restriction
  on property: HasSensors
  all values from: Force-torque

Hand controllers
type: Class
disjoint with: Haptic mice
subclass of: Restriction
  all values from: Force-torque
  on property: HasSensors
subclass of: Restriction
  has value: Muscle tension
  on property: Sensation modality
subclass of: Ground based devices
subclass of: Restriction
  all values from: Class
    union of: Shape
    union of: Size
    union of: Texture
    union of: Weight volume
  on property: ExtractsFeatures
subclass of: Restriction
  on property: UseHumanPart
  all values from: Hand
subclass of: Restriction
  all values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
  on property: ProduceStimulus
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
subclass of: Restriction
  on property: Sensation modality
  has value: Muscle stretch
disjoint with: Force feedback devices
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
disjoint with: Joysticks

Ground based devices
type: Class
disjoint with: Tactile displays
disjoint with: Body based devices
subclass of: Restriction
  on property: CreateComputerHaptics
  some values from: Class
    union of: Feature extraction
    union of: Geometry modelling
    union of: Haptic rendering
    union of: Kinematics modelling
subclass of: Types of devices
subclass of: Restriction
  on property: ProduceFeedback
  all values from: Force feedback
subclass of: Restriction
  cardinality: 1
  on property: Damping
subclass of: Restriction
  on property: Inertia
  cardinality: 1

Joysticks
type: Class
disjoint with: Hand controllers
subclass of: Ground based devices
subclass of: Restriction
  all values from: Class
    union of: Compliance
    union of: Texture
    union of: Shape
    union of: Curvature
  on property: ExtractsFeatures
disjoint with: Haptic mice
subclass of: Restriction
  on property: Sensation modality
  has value: Joint tension
subclass of: Restriction
  on property: UseHumanPart
  all values from: Hand
disjoint with: Force feedback devices
subclass of: Restriction
  on property: HasSensors
  all values from: Force-torque
subclass of: Restriction
  on property: Sensation modality
  has value: Vibration
subclass of: Restriction
  all values from: Class
    union of: Mechanical stimulus
    union of: Force stimulus
  on property: ProduceStimulus
subclass of: Restriction
  on property: Sensation modality
  has value: Muscle tension

Positional resolution
type: DatatypeProperty
comment: During grasping objects (0.5-2.5 mm)
domain: Class
  union of: Fingertip
  union of: Palm

Receptors activation
type: Class
subclass of: TemporalInstant
subclass of: Restriction
  has value: Human
  on property: Involves
subclass of: Restriction
  all values from: Haptic interaction
  on property: IsPartOf hci

Cortical neurons function
type: Class
subclass of: Human function
disjoint with: Receptors activation function
disjoint with: Neural canals function
comment: The function of the cortical neurons to receive and process tactile signals and integrate perception.

Receptors activation function
type: Class
disjoint with: Neural canals function
disjoint with: Cortical neurons function
subclass of: Human function
comment: The function of activation of the skin receptors when they receive a stimulus.

Neural canals function
type: Class
comment: The function of nerve channels to enable tactile signals transport.
subclass of: Human function
disjoint with: Receptors activation function
disjoint with: Cortical neurons function

Human function
type: Class
subclass of: Function
subclass of: Restriction
  has value: Human
  on property: Involves
disjoint with: Machine function

Human FiatProcessPart
type: Class
subclass of: FiatProcessPart
subclass of: Restriction
  has value: Human
  on property: Involves

Lateral motion
type: Class
subclass of: Restriction
  all values from: Texture
  on property: ExploresObject
subclass of: Manual Exploration
disjoint with: Contour following
disjoint with: Enclosure
disjoint with: Static contact
disjoint with: Pressure motion
disjoint with: Unsupported holding
comment: Associated_with_texture_encoding;_characterized_by_production_of_shearing_forces_between_skin_and_object.

Contour following
type: Class
subclass of: Manual Exploration
subclass of: Restriction
  all values from: Shape
  on property: ExploresObject
disjoint with: Lateral motion
disjoint with: Pressure motion
disjoint with: Static contact
disjoint with: Unsupported holding
disjoint with: Enclosure
comment: Associated with encoding of precise contour; characterized by movement of exploring effector (usually, one or more fingertips) along edge or surface contour.

Enclosure
type: Class
comment: Associated with encoding of volume and coarse shape; characterized by molding to touched surface but without high force.
disjoint with: Contour following
disjoint with: Lateral motion
disjoint with: Static contact
disjoint with: Pressure motion
disjoint with: Unsupported holding
subclass of: Manual Exploration
subclass of: Restriction
  all values from: Shape
  on property: ExploresObject

Static contact
type: Class
disjoint with: Contour following
disjoint with: Enclosure
disjoint with: Lateral motion
disjoint with: Pressure motion
disjoint with: Unsupported holding
comment: Associated with temperature encoding; characterized by contact with maximum skin surface and without movement, also without effort to mold to the touched surface.
subclass of: Restriction
  all values from: Temperature-Thermal quality
  on property: ExploresObject
subclass of: Manual Exploration

Pressure motion
type: Class
disjoint with: Contour following
disjoint with: Enclosure
disjoint with: Lateral motion
disjoint with: Static contact
disjoint with: Unsupported holding
subclass of: Restriction
  on property: ExploresObject
  all values from: Class
    union of: Compliance
    union of: Roughness
subclass of: Manual Exploration
comment: 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.

Unsupported holding
type: Class
disjoint with: Contour following
disjoint with: Enclosure
disjoint with: Lateral motion
disjoint with: Pressure motion
disjoint with: Static contact
subclass of: Restriction
  all values from: Class
    union of: Weight volume
    union of: Weight density
  on property: ExploresObject
subclass of: Manual Exploration
comment: Associated with encoding of weight; characterized by holding object away from supporting surface, often with arm movement (hefting).

Machine quality
type: Class
disjoint with: Human quality
subclass of: Quality
subclass of: Restriction
  on property: Involves
  has value: Machine

Controllers
type: Class
subclass of: Restriction
  on property: IsPartOf d
  all values from: Types of devices
subclass of: Machine FiatObjectPart
subclass of: Restriction
  on property: DriveDevices
  some values from: Class
    union of: Body based devices
    union of: Ground based devices
    union of: Tactile displays
subclass of: Restriction
  all values from: Controller role
  on property: HasRole c
comment: Parts of the haptic devices that make sense of the signals going to, and coming from the device.

Ia
type: Class
subclass of: Restriction
  on property: Diameter
  has value: 20.0
subclass of: Restriction
  has value: 13.0
  on property: Diameter
subclass of: Restriction
  has value: 120.0
  on property: Conduction velocity
subclass of: Restriction
  has value: 80.0
  on property: Conduction velocity
subclass of: I
disjoint with: Ib

Damping
type: DatatypeProperty
range: DataRange
  one of: High
  one of: Low
domain: Ground based devices

Inertia
type: DatatypeProperty
range: DataRange
  one of: Low
  one of: High
comment: Low inertia imposed by the device kinematics so that free motion feels free.
domain: Types of devices

User interaction with a haptic device
type: Class
subclass of: ProcessBoundary
comment: or:Haptic interaction. It is a processsubject to the applicable laws of physics such as those of dynamics.

Device resolution
type: DatatypeProperty
domain: Types of devices
comment: 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
range: DataRange
  one of: 1
  one of: 10
  one of: 100
  one of: 1000

Precision
type: DatatypeProperty
comment: The difference between the target coordinate and the centre of the distribution curve of the actual coordinates of the arm endpoint.

Degrees of freedom
type: DatatypeProperty
range: DataRange
  one of: 2
  one of: 3
  one of: 4
  one of: 5
  one of: 6
  one of: 7
  one of: 8
  one of: 9
  one of: 10
  one of: 11
  one of: 12
  one of: 20
type: FunctionalProperty
domain: Types of devices

Peak acceleration
type: DatatypeProperty
domain: Types of devices
comment: 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

Friction
type: DatatypeProperty
type: FunctionalProperty
range: DataRange
  one of: Low
  one of: High
comment: The low friction enables the user to move the device freely when not in contact.
domain: Types of devices

Device frequency
type: DatatypeProperty
comment: In Hz
domain: Types of devices

Bandwidth
type: DatatypeProperty
comment: To achieve high precision a device must have high dynamic bandwidth
domain: Types of devices
type: FunctionalProperty
range: float

SA IFrequencyRangeRule
type: Imp
body: ClassAtom
  argument1: a
  class predicate: SA I
body: DatavaluedPropertyAtom
  argument2: b
  property predicate: Frequency range
  argument1: a
body: BuiltinAtom
  arguments: b
  arguments: 0.4
  builtin: greaterThan
body: BuiltinAtom
  arguments: b
  arguments: 100
  builtin: lessThan
head: ClassAtom
  argument1: a
  class predicate: Aβ
is rule enabled: true

MachineEntitiesRule
type: Imp
body: ClassAtom
  argument1: y
  class predicate: Thing
body: DatavaluedPropertyAtom
  property predicate: Involves
  argument1: y
  argument2: Machine
is rule enabled: true
head: ClassAtom
  argument1: y
  class predicate: Thing

ThermalPainStimulusRule
type: Imp
body: ClassAtom
  argument1: x
  class predicate: Thermal stimulus
body: DatavaluedPropertyAtom
  property predicate: HasTemperature
  argument2: thermal
  argument1: x
body: BuiltinAtom
  arguments: thermal
  arguments: 45
  builtin: greaterThan
body: BuiltinAtom
  builtin: lessThan
  arguments: thermal
  arguments: 5
is rule enabled: true
head: ClassAtom
  argument1: thermal
  class predicate: Thermal pain stimulus

Secondary somatic cortex 1
type: Secondary somatic cortex
is part of b: Brain 1
cortical receptive fields: Large

RoughnessExtractionRule
type: Imp
body: ClassAtom
  argument1: f
  class predicate: Force feedback devices
body: ClassAtom
  class predicate: Object surface
  argument1: x
body: ClassAtom
  argument1: e
  class predicate: End effector
body: DatavaluedPropertyAtom
  argument1: x
  argument2: r
  property predicate: Ridge width
body: DatavaluedPropertyAtom
  argument1: x
  argument2: g
  property predicate: Groove width
body: DatavaluedPropertyAtom
  property predicate: Width
  argument1: e
  argument2: w
body: BuiltinAtom
  arguments: g
  arguments: 3.5
  builtin: lessThan
body: BuiltinAtom
  builtin: greaterThanOrEqual
  arguments: g
  arguments: 1
body: BuiltinAtom
  builtin: lessThanOrEqual
  arguments: e
  arguments: 3
head: ClassAtom
  argument1: x
  class predicate: Perception of roughness

RΑ ΙFrequencyRangeRule
type: Imp
is rule enabled: true
head: ClassAtom
  class predicate: Aβ
  argument1: a
body: ClassAtom
  class predicate: RA I
  argument1: a
body: DatavaluedPropertyAtom
  property predicate: Frequency range
  argument1: a
  argument2: b
body: BuiltinAtom
  arguments: b
  arguments: 10
  builtin: greaterThan
body: BuiltinAtom
  arguments: b
  arguments: 300
  builtin: lessThan

DataRange
one of: 50.0
one of: 100.0

Piezoelectric Phantom 3
type: Piezoelectric
has function a: Phantom actuator function
has role a: Phantom actuator role
receive commands: Computer Haptics Phantom
produce signals: Force signals Phantom
has disposition a: Phantom Actuator disposition
is part of d: PHANToM
response time: 1

PHANToM
type: Force feedback devices
has role d: PHANToM Haptic device role
has function d: PHANToM Haptic device function
degrees of freedom: 6
produce stimulus: Mechanical stimulus phantom
device resolution: 100
friction: Low
precision: High
peak force: 7.9
has actuators: Piezoelectric Phantom 2
bandwidth: 0.0
damping: Low
use human part: Palm 1
has actuators: Piezoelectric Phantom 3
extracts features: Weight volume phantom
create computer haptics: Modelling of object motion phantom
extracts features: Compliance phantom
has disposition d: PHANToM Haptic device disposition
has sensors: Force-torque phantom 1
produce feedback: Force feedback phantom
create computer haptics: Plastic virtual objects phantom
create computer haptics: Axis Aligned Bounding Boxes phantom
has sensors: Force-torque phantom 2
create computer haptics: Delaunay triangulation Divide and Conquer
force: 1.75
extracts features: Roughness phantom
has sensors: Force-torque phantom 3
crosstalk: Small
distortion: Small
extracts features: Shape phantom
use human part: Arm 1
has actuators: Piezoelectric Phantom 1
create computer haptics: Haptic texturing phantom
motion range: Hand movement pivoting at wrist
use human part: Wrist 1
inertia: Low
create computer haptics: Modelling of object location phantom
peak acceleration: High
produce stimulus: Force stimulus phantom

Mechanical stimulus phantom
type: Mechanical stimulus
activate: Ruffini ending palm
activate: Merkel cell palm
stimulus duration: 1

Area 5 shape
type: Area 5
integrate: Perception of shape phantom
is part of b: Brain 1
receive from: Meissner corpuscle palm
receive from: Golgi endings 1
receive from: Merkel cell palm
cortical receptive fields: Large
receive from: Muscle spindles 1
receive from: Ruffini endings 1
receive from: Ruffini ending palm

Mechanical stimulus 1
type: Mechanical stimulus
activate: Ruffini ending fingertip
activate: Meissner corpuscle palm
stimulus duration: 2

Fingertip 1
type: Fingertip
kinesthetic resolution: 2
just noticeable difference: 2.5
located in h: Hand 1
is part of h: Hand 1

Area 1 size
type: Area 1
is part of b: Brain 1
integrate: Perception of size 1
cortical receptive fields: Small
receive from: Meissner corpuscle palm

Area 7 size
type: Area 7
is part of b: Brain 1
integrate: Perception of size 1
cortical receptive fields: Large

Palm 1
type: Palm
spatial resolution: 0.3
kinesthetic resolution: 2
located in h: Hand 1
is part of h: Hand 1
force: 10.0
just noticeable difference: 0.8

Golgi endings 1
type: Golgi endings
activated by: Force stimulus phantom
receptive field: Small
connected through: Ib 1
has disposition r: Golgi ending disposition
send to brain areas: Area 5 shape
most sensitive at: 0.0
has function r: Golgi ending activation function
located in p: Joints 1
has role r: Golgi ending role

Force stimulus phantom
type: Force stimulus
stimulus duration: 2
activate: Muscle spindles 1
activate: Ruffini endings 1
activate: Golgi endings 1

Muscle spindles 1
type: Muscle spindles
most sensitive at: 0.0
receptive field: Small
has role r: Muscle spindles role
located in p: Muscles 1
connected through: Ia 1
has function r: Muscle spindles activation function
activated by: Force stimulus phantom
has disposition r: Muscle spindles disposition
send to brain areas: Area 5 shape
send to brain areas: Area 3a weight-volume

Arm 1
type: Arm
just noticeable difference: 2.0
spatial resolution: 2
force: 10.0
is part of s: Skin surface 1
kinesthetic resolution: 2

Area 3a weight-volume
type: Area 3a
integrate: Perception of volume weight phantom
is part of b: Brain 1
cortical receptive fields: Small
receive from: Muscle spindles 1

Ruffini endings 1
type: Ruffini endings
send to brain areas: Area 5 shape
receptive field: Small
has role r: Ruffini endings joints role
has disposition r: Ruffini ending joints disposition
activated by: Force stimulus phantom
has function r: Ruffini ending joints activation function
located in p: Joints 1
connected through: Ib 1
send to brain areas: Area 2 compliance

Area 2 compliance
type: Area 2
cortical receptive fields: Small
is part of b: Brain 1
receive from: Ruffini endings 1
integrate: Perception of compliance phantom

Area 3b roughness phantom
type: Area 3b
cortical receptive fields: Small
receive from: Ruffini ending palm
receive from: Merkel cell palm
integrate: Perception of roughness phantom
is part of b: Brain 1

Piezoelectric Phantom 2
type: Piezoelectric
has disposition a: Phantom Actuator disposition
produce signals: Force signals Phantom
has role a: Phantom actuator role
response time: 1
is part of d: PHANToM
has function a: Phantom actuator function
receive commands: Computer Haptics Phantom

Force-torque phantom 1
type: Force-torque
sensor bandwidth: 100.0
sensitivity: High
has role s: Phantom sensor role
sensory area: Large
sense stimuli: Mechanical stimulus phantom
sense stimuli: Force stimulus phantom
informs position: Computer Haptics Phantom
has function s: Phantom sensor function
has disposition s: Phantom sensor disposition
is part of d: PHANToM

Force-torque phantom 2
type: Force-torque
sensitivity: High
has disposition s: Phantom sensor disposition
has function s: Phantom sensor function
sensor bandwidth: 100.0
informs position: Computer Haptics Phantom
is part of d: PHANToM
sense stimuli: Force stimulus phantom
sensory area: Large
sense stimuli: Mechanical stimulus phantom
has role s: Phantom sensor role

Force-torque phantom 3
type: Force-torque
has role s: Phantom sensor role
sensitivity: High
has function s: Phantom sensor function
sensory area: Large
sense stimuli: Force stimulus phantom
sense stimuli: Mechanical stimulus phantom
informs position: Computer Haptics Phantom
has disposition s: Phantom sensor disposition
is part of d: PHANToM
sensor bandwidth: 100.0

Piezoelectric Phantom 1
type: Piezoelectric
response time: 1
has role a: Phantom actuator role
has function a: Phantom actuator function
is part of d: PHANToM
receive commands: Computer Haptics Phantom
produce signals: Force signals Phantom
has disposition a: Phantom Actuator disposition

Wrist 1
type: Wrist
two point touch threshold: 0.0
just noticeable difference: 2.0
kinesthetic resolution: 2
point localization threshold: 8.0

DataRange
one of: Human
one of: Machine

SA IIFrequencyRule
type: Imp
is rule enabled: true
body: ClassAtom
  argument1: a
  class predicate: SA II
body: DatavaluedPropertyAtom
  property predicate: Frequency range
  argument2: 7
  argument1: a
head: ClassAtom
  class predicate: Aβ
  argument1: a

RΑ ΙΙFrequencyRangeRule
type: Imp
head: ClassAtom
  class predicate: Aβ
  argument1: a
is rule enabled: true
body: ClassAtom
  class predicate: RA II
  argument1: a
body: DatavaluedPropertyAtom
  argument2: b
  argument1: a
  property predicate: Frequency range
body: BuiltinAtom
  arguments: b
  arguments: 40
  builtin: greaterThan
body: BuiltinAtom
  arguments: b
  arguments: 800
  builtin: lessThan

Mechanical 1
type: Mechanical
receptive field: Large

DataRange
one of: 7.0
one of: 0.4
one of: 10.0
one of: 40.0
one of: 100.0
one of: 300.0
one of: 800.0

Area 5 3
type: Area 5
cortical receptive fields: Large

HumanEntitiesRule
type: Imp
body: ClassAtom
  class predicate: Thing
  argument1: y
body: DatavaluedPropertyAtom
  argument2: Human
  argument1: y
  property predicate: Involves
head: ClassAtom
  class predicate: Thing
  argument1: y
is rule enabled: true

FingertipStimulation
type: Imp
body: DatavaluedPropertyAtom
  property predicate: Point localization threshold
  argument1: x
  argument2: p
body: BuiltinAtom
  builtin: greaterThanOrEqual
  arguments: p
  arguments: 1
body: BuiltinAtom
  builtin: lessThanOrEqual
  arguments: p
  arguments: 2
body: DatavaluedPropertyAtom
  argument1: x
  argument2: t
  property predicate: Two point touch threshold
body: BuiltinAtom
  arguments: t
  arguments: 2
  builtin: greaterThanOrEqual
body: BuiltinAtom
  arguments: t
  arguments: 4
  builtin: lessThanOrEqual
head: ClassAtom
  class predicate: Fingertip
  argument1: x

TemperaturePerceptionRule
type: Imp
head: ClassAtom
  argument1: x
  class predicate: Perception of temperature-thermal quality
is rule enabled: true
body: ClassAtom
  argument1: x
  class predicate: Thermal displays
body: IndividualPropertyAtom
  argument1: x
  argument2: y
  property predicate: ProduceStimulus
body: DatavaluedPropertyAtom
  argument2: thermal
  argument1: y
  property predicate: HasTemperature
body: BuiltinAtom
  arguments: thermal
  arguments: 5
  builtin: greaterThan
body: BuiltinAtom
  arguments: thermal
  arguments: 45
  builtin: lessThan

Area 1 edges
type: Area 1
cortical receptive fields: Small
receive from: Meissner corpuscle palm ultrasound
receive from: Meissner corpuscle fingertip
receive from: Pacinian corpuscle fingertip
receive from: Pacinian corpuscle palm ultrasound
is part of b: Brain 1
integrate: Perception of edges focused ultrasound

Mechanical stimulus Focused Ultrasound at Fingertip
type: Mechanical stimulus
activate: Meissner corpuscle fingertip
activate: Merkel cell fingertip
activate: Pacinian corpuscle fingertip
stimulus duration: 0.5

Area 3b curvature ultrasound
type: Area 3b
cortical receptive fields: Small
receive from: Merkel cell palm ultrasound
receive from: Merkel cell fingertip
integrate: Perception of curvature focused ultrasound
is part of b: Brain 1

Area 3b Roughness ultrasound
type: Area 3b
is part of b: Brain 1
cortical receptive fields: Small
integrate: Perception of roughness ultrasound
receive from: Merkel cell palm ultrasound
receive from: Merkel cell fingertip

Mechanical stimulus Focused Ultrasound at Palm
type: Mechanical stimulus
stimulus duration: 0.5
activate: Meissner corpuscle palm ultrasound
activate: Pacinian corpuscle palm ultrasound
activate: Merkel cell palm ultrasound

Area 5 2
type: Area 5
is part of b: Brain 1
integrate: Perception of curvature 1
integrate: Perception of edges 1
cortical receptive fields: Large

Area 7 curvature
type: Area 7
is part of b: Brain 1
cortical receptive fields: Large
integrate: Perception of curvature 1

Area 5 1
type: Area 5
cortical receptive fields: Large
integrate: Perception of edges 1
integrate: Perception of curvature 1
is part of b: Brain 1

Area 7 edges
type: Area 7
is part of b: Brain 1
cortical receptive fields: Large
integrate: Perception of edges 1

Pneumatic Focused Ultrasound 3
type: Pneumatic
has function a: Focused Ultrasound Actuator function
is part of d: Focused ultrasound display
has disposition a: Focused Ultrasound Actuator disposition
produce signals: Displacement signals Focused Ultrasound
receive commands: Computer Haptics Focused Ultrasound
has role a: Focused ultrasound Actuator role
response time: 20

Focused ultrasound display
type: Focused ultrasound displays
has sensors: Ultrasonic 1
degrees of freedom: 2
extracts features: Roughness focused ultrasound
produce stimulus: Mechanical stimulus Focused Ultrasound at Fingertip
device resolution: 10
inertia: Low
bandwidth: 1000.0
produce stimulus: Mechanical stimulus Focused Ultrasound at Palm
create computer haptics: Polygonal surfaces ultrasound display
peak force: 0
produce feedback: Tactile feedback focused ultrasound display
has disposition d: Focused ultrasound display disposition
create computer haptics: Force mapping focused
has actuators: Pneumatic Focused Ultrasound 2
peak acceleration: 2200
precision: High
has sensors: Ultrasonic 2
distortion: Low
use human part: Fingertip 1
has function d: Focused ultrasound display function
use human part: Palm 1
extracts features: Edges focused ultrasound
create computer haptics: Modelling of object location in focused ultrasound display
device frequency: 5000.0
friction: Low
force: 1.5
create computer haptics: Elastic virtual objects focused ultrasound
has actuators: Pneumatic Focused Ultrasound 1
create computer haptics: Haptic texturing focused ultrasound
crosstalk: Low
extracts features: Curvature Focused Ultrasound
has role d: Focused ultrasound display role
has actuators: Pneumatic Focused Ultrasound 3
has sensors: Ultrasonic 3
motion range: 1.5

Ultrasonic 1
type: Ultrasonic
sensory area: Small
has function s: Ultrasonic Sensor function
sense stimuli: Mechanical stimulus Focused Ultrasound at Palm
informs position: Computer Haptics Focused Ultrasound
sensor bandwidth: 10.0
is part of d: Focused ultrasound display
sense stimuli: Mechanical stimulus Focused Ultrasound at Fingertip
has role s: Ultrasonic Sensor role
has disposition s: Ultrasonic Sensor disposition
sensitivity: High

Pneumatic Focused Ultrasound 1
type: Pneumatic
receive commands: Computer Haptics Focused Ultrasound
has disposition a: Focused Ultrasound Actuator disposition
is part of d: Focused ultrasound display
response time: 20
has function a: Focused Ultrasound Actuator function
produce signals: Displacement signals Focused Ultrasound
has role a: Focused ultrasound Actuator role

Pneumatic Focused Ultrasound 2
type: Pneumatic
is part of d: Focused ultrasound display
produce signals: Displacement signals Focused Ultrasound
has disposition a: Focused Ultrasound Actuator disposition
has function a: Focused Ultrasound Actuator function
has role a: Focused ultrasound Actuator role
response time: 20
receive commands: Computer Haptics Focused Ultrasound

Ultrasonic 2
type: Ultrasonic
sense stimuli: Mechanical stimulus Focused Ultrasound at Fingertip
informs position: Computer Haptics Focused Ultrasound
has function s: Ultrasonic Sensor function
sensory area: Small
has disposition s: Ultrasonic Sensor disposition
sensor bandwidth: 10.0
sensitivity: High
has role s: Ultrasonic Sensor role
sense stimuli: Mechanical stimulus Focused Ultrasound at Palm
is part of d: Focused ultrasound display

Ultrasonic 3
type: Ultrasonic
has role s: Ultrasonic Sensor role
is part of d: Focused ultrasound display
sensor bandwidth: 10.0
sense stimuli: Mechanical stimulus Focused Ultrasound at Fingertip
informs position: Computer Haptics Focused Ultrasound
has function s: Ultrasonic Sensor function
sensory area: Small
sense stimuli: Mechanical stimulus Focused Ultrasound at Palm
has disposition s: Ultrasonic Sensor disposition
sensitivity: High

Thermal pain stimulus cold
type: Thermal pain stimulus
activate: Polymodal cold
stimulus duration: 1
has temperature: 2

Polymodal cold
type: Polymodal
receptive field: Small
activated by: Thermal pain stimulus cold
located in s: Fingertip 1
connected through: C polymodal cold

Mechanical stimulus 2
type: Mechanical stimulus
activate: Pacinian corpuscle palm
stimulus duration: 5

Thermal pain stimulus hot
type: Thermal pain stimulus
activate: Polymodal hot
has temperature: 50
stimulus duration: 1

Polymodal hot
type: Polymodal
connected through: Aδ hot
located in s: Fingertip 1
receptive field: Small
most sensitive at: 45.0
activated by: Thermal pain stimulus hot