An ontology that describes the interaction between humans and haptic devices
They respond rapidly to a stimulus.
The function of a haptic device to create tactile information.
The disposition of nerves to transfer haptic information when receptors are activated.
Muscles are occupied by other continuants (muscle spindles).
Contain 4 stages of processes: 1. Geometry modelling 2. Kinematics modelling 3. Physical modelling 4. Feature extraction
They are activated when they sense skin changes in temperature.
Parts of the haptic devices. Mechanisms to introduce motion or to clamp an object so as to prevent motion.
The role of the skin receptors to transmit information to the nerve fibers.
The skin receptors are innervated by different kinds of nerve fibers (neurons).
The sensory receptors under the skin, and in muscles, tendons, and joints, become activated not only through contact with an object but through movement.
or: Stimulus modelling. Describes the shape of virtual objects (polygons, triangles, vertices, splines) as well as their appearance (surface texture, surface illumination and color).
Receptors that are activated by mechanical stimuli.
The_role_of_the_nerves_to_drive_tactile_signals_through_different_pathways.
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.
The disposition of cortical neurons to process tactile information delivered by nerve fibers.
They are responsible for the pain signals that can damage the skin tissue.
Cranial cavity is a site occupied by another entity (brain).
The function of activation of the skin receptors when they receive a stimulus.
Associated_with_texture_encoding;_characterized_by_production_of_shearing_forces_between_skin_and_object.
They respond slowly to a stimulus.
The function of nerve channels to enable tactile signals transport.
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"
Associated with encoding of volume and coarse shape; characterized by molding to touched surface but without high force.
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.
Associated with encoding of weight; characterized by holding object away from supporting surface, often with arm movement (hefting).
Parts of the haptic devices that make sense of the signals going to, and coming from the device.
This determines the location of 3D objects with respect to a world system of coordinates as well as their motion in the virtual world.
The role of the brain to tactile perception integration.
Joints are occupied by other continuants (joint tendons).
Nerve canals are sites-entities that can be occupied by other continuants (nerves).
Associated with encoding of precise contour; characterized by movement of exploring effector (usually, one or more fingertips) along edge or surface contour.
or:Haptic interaction. It is a processsubject to the applicable laws of physics such as those of dynamics.
The disposition of the receptors to be activated when there is a stimulus.
Associated with temperature encoding; characterized by contact with maximum skin surface and without movement, also without effort to mold to the touched surface.
The function of the cortical neurons to receive and process tactile signals and integrate perception.
Low inertia imposed by the device kinematics so that free motion feels free.
During grasping objects (0.5-2.5 mm)
The low friction enables the user to move the device freely when not in contact.
In ms
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
The difference between the target coordinate and the centre of the distribution curve of the actual coordinates of the arm endpoint.
To achieve high precision a device must have high dynamic bandwidth
Represents the smallest spatial separation between two stimuli applied to the skin that caan be detected some arbitrary percentage of the time.
In msec
Receptors/cm^2 . Density differs if a receptor is located in fingertip, palm, arm, joints, muscles
The minimum input of physical parameter that will create a detectable output (0.4-10 N) change
In mm
In Hz
In Celcius degrees, warm receptors activated at 29-45 and cold receptors 5-40
Minimum 100 Hz
Receptors in different areas of the skin have different receptive fields
In degrees
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.
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
The forces produced by a haptic device and the forces that can be "sensed" by the skin surface
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
In μm
They become progressivley more complex with each stage of information processing and they are larger than the receptors fields.