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[Th021] Citation: Abstract
A haptic display provides the mechanical analog of a physical environment for
our sense of touch in a virtual reality (VR) simulation system. In this
dissertation, we explore the design and implementation of a planar fingertip
haptic display (FHD) mechanism. We first present a new technique for analysing
the reachable workspace of mechanisms that have stochastic kinematic
parameters. This technique is used to develop a stochastic representation of
the reachable workspace of the human finger. Using this finger workspace, we
present a method for selecting the kinematic parameters of a five-bar linkage
mechanism to match the finger workspace while providing high-quality force
output capability over the entire mechanism workspace. We then use this haptic
display in psychophysical experiments which explore the human perception of
geometric surface discontinuities on a haptically rendered virtual surface.
Specifically, the experiments examine how the ability to perceive and locate
both first-order and second-order surface discontinuities is affected by both
the magnitude of the discontinuity and by the particular set of control gains
used in haptically rendering the discontinuity. The results of these
experiments are relevant to haptic simulation systems which approximate complex
curved surfaces with planar facets: the intersection between facets is a form of
surface discontinuity and the perceived smoothness of the surface is likely
related to the magnitude of the change in surface gradient at these
intersections.
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Updated: Tue Jul 15 23:54:51 2008
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