Novel wearable tactile interfaces offer the possibility to simulate tactile interactions with virtual environments directly on our skin. But, unlike kinesthetic interfaces, for which haptic rendering is a well explored problem, they pose new questions about the formulation of the rendering problem. In this work, we propose a formulation of tactile rendering as an optimization problem, which is general for a large family of tactile interfaces. Based on an accurate simulation of contact between a finger model and the virtual environment, we pose tactile rendering as the optimization of the device configuration, such that the contact surface between the device and the actual finger matches as close as possible the contact surface in the virtual environment. We describe the optimization formulation in general terms, and we also demonstrate its implementation on a thimble-like wearable device. We validate the tactile rendering formulation by analyzing its force error, and we show that it outperforms other approaches.
|Titolo:||Optimization-Based wearable tactile rendering|
|Citazione:||Perez, A.G., Lobo, D., Chinello, F., Cirio, G., Malvezzi, M., SAN MARTIN, J., et al. (2017). Optimization-Based wearable tactile rendering. IEEE TRANSACTIONS ON HAPTICS, 10(2), 254-264.|
|Appare nelle tipologie:||1.1 Articolo in rivista|
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|ToH17.pdf||Accepted version. European Union (EU), FP7 and Horizon 2020 programmes. European projects "WEARable HAPtics for Humans and Robots" (WEARHAP), Integrating Project, Grant Agreement n. 601165 and “Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn” (SoftPro), Research and innovation actions, Grant Agreement n. 688857. © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/TOH.2016.2619708||Post-print||PUBBLICO - Pubblico con Copyright||Open Access Visualizza/Apri|