Haptic End Effector Orientation for Roughness Feedback
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Solution Overview
Problem
Conventional haptic sense providing devices require multiple textures and complex configurations to provide various haptic senses, leading to increased volume, cost, and complexity, necessitating a method to deliver different roughness haptic senses without replacing textures attached to the end effector.
Innovation Solution
A system and method that utilize spatial and temporal encoding to rotate and move the end effector in contact with the user's hand, predicting the virtual object's surface roughness and moving direction to render varying roughness haptic senses, employing polygonal or elliptical protrusions or textured surfaces to simulate different tactile experiences based on the angle of contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple physical textures are attached to the end effector to provide various haptic senses, then the user can experience different roughness haptic senses, but the device complexity, volume, and cost increase
Solution Approach 1:
The end effector is made dynamically controllable through rotation and movement mechanisms, allowing a single static texture to present varying haptic characteristics by changing its orientation and position. This dynamic adjustment enables one texture to replace multiple textures, resolving the contradiction between haptic sense variety and device complexity
Solution Approach 2:
The patent changes the parameters of the end effector's spatial position, rotation angle, and movement velocity to encode different roughness information. By varying these parameters, the system can provide different haptic senses without physically changing the texture, thus reducing device complexity while maintaining adaptability
2Reliability
If multiple physical textures are stored and replaced according to virtual objects, then accurate haptic feedback is provided, but the volume and cost of the system increase
Solution Approach 1:
A single texture on the end effector is designed to serve multiple functions by encoding different roughness information through spatial and temporal variations. The same physical texture can represent multiple virtual object surfaces by changing its presentation parameters, eliminating the need for multiple texture storage and reducing system volume
Solution Approach 2:
Instead of physically copying multiple textures, the system creates virtual copies through computational encoding. The spatial encoding and temporal encoding generate different haptic perceptions from a single physical texture, effectively copying the functional behavior of multiple textures without the physical overhead
3Adaptability or versatility
If the end effector is rotated and moved according to spatial and temporal encoding, then various roughness haptic senses are provided without replacing textures, but the control complexity increases
Solution Approach 1:
The system uses feedback mechanisms where the predicted virtual object information and user interaction data guide the end effector's rotation and movement. This closed-loop control ensures that the complex motions are purposeful and directly tied to providing accurate haptic feedback, making the control complexity manageable and meaningful
Data Source
AI summary
A method and a system for providing a roughness haptic sense of a virtual object by using space-time encoding are provided. The method for providing a roughness haptic sense of a virtual object may comprise the steps of: displaying virtual objects to a user; tracking the position of the user's hand; predicting a virtual object, which is most likely to collide with the hand, among the virtual objects; and when the hand touches a haptic sense providing device, controlling the haptic sense providing device on the basis of the surface roughness of the predicted virtual object to feed back a roughness haptic sense to the user.