Haptic Interaction
Haptic Interaction Research is a multifaceted field. It includes human interaction with the environment using their sense of touch, robotic haptic interaction, haptic interfaces, and haptic interaction in virtual reality (VR) facilitated by e.g. actuated haptic gloves or exoskeletons. In human interaction, the haptic modality is an active and robust source of information. In robotic systems, there is still no clear understanding of how to design, model and perform haptic interaction. Haptic devices working in virtual reality are capable of implementing some haptic interaction features, but are still far away from mimicking haptic perception of the human skin. Haptic interfaces are mechatronic systems that modulate the physical interaction between a human and their tangible surroundings so that the human can act on and feel a virtual and/or remote environment. [1]
A large domain in which haptic interaction plays a role is surgical robotics. Here the advantages of robotic devices[2] are counteracted by the loss of haptic feedback. The resulting problems are e.g. tissue damage.
Human haptic interaction research has been initiated by Roberta Klatzky and Susan Lederman[3][4]. A huge contribution is attributed to A. Kappers and her research collaborators[5]. Following this work, Moringen et al. have dedicated their work to haptic interaction with a wide range of three-dimensional shapes, so-called Modular Haptic Stimulus Board (MHSB)[6],[7] topic that still poses multiple open research questions. In particular, the researchers have posed a hypothesis[8] that haptic search has similar mechanisms that underlie its efficiency as visual search in humans known under the name Guided Search[9] (with current version being 6.0). Central to such efficiency in haptic interaction with three-dimensional objects while performing a goal-oriented task is a set of haptic guiding features, such as sharpness, convexity, or relative size differences.
Robot haptic interaction started to gain popularity along with an increased development of haptic sensor technology (for review see e.g.).[10] Haptic interaction is necessary while e.g. handling small objects that are self-occluded,[11] vulnerable or sensitive objects or while exploring haptic properties of objects (rigidity, texture, temperature, etc.). Robot haptic interaction with deep RL-based attention learning has been pioneered by Fleer et. al.[12] This work introduces a novel formal model of haptic glances[13] and learns an optimal haptic exploration policy specified on the semantic level. In 2021 Facebook AI also published their work on haptic interaction.[14] Although a lot of work has been performed in physics-driven simulation environments, until now robots remain very constrained in their real-life haptic capabilities. This is mainly due to a lack of large and universal training data-sets that are common for more popular modalities such as vision or text.
Haptic interaction is fostered by a multitude of haptic devices, such as phantom devices, or exoskeletons. Haptipedia[15] presents an overview of a wide range of existing haptic devices.
References
- ↑ MPI
- ↑ Abiri, Ahmad; Pensa, Jake; Tao, Anna; Askari, Syed J.; Dutson, Erik P.; Grundfest, Warren S. (2019). "Multi-Modal Haptic Feedback for Grip Force Reduction in Robotic Surgery". Scientific Reports.
- ↑ Lederman, Susan; Klatzky, Roberta. "Hand movements: A window into haptic object recognition".
- ↑ http://www.scholarpedia.org/article/Haptic_exploration
- ↑ http://www.scholarpedia.org/article/Haptic_saliency
- ↑ Moringen, Alexandra; Haschke, Robert; Ritter, Helge (2016). "Search Procedures during Haptic Search in an Unstructured 3D Display". 2016 IEEE Haptics Symposium (HAPTICS). pp. 192–197. doi:10.1109/HAPTICS.2016.7463176. ISBN 978-1-5090-0903-9. Unknown parameter
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- ↑ Krieger, Kathrin; Moringen, Alexandra; Haschke, Robert; Ritter, Helge (2016). "Shape Features of the Search Target Modulate Hand Velocity, Posture and Pressure During Haptic Search in a 3D Display". Haptics: Perception, Devices, Control, and Applications. Lecture Notes in Computer Science. 9774. pp. 134–145. doi:10.1007/978-3-319-42321-0_13. ISBN 978-3-319-42320-3. Search this book on
- ↑ Moringen, Alexandra; Aswolinkiy, Witali; Buscher, Gereon; Walck, Guillaume; Haschke, Robert; Ritter, Helge (2018). "Modeling Target-Distractor Discrimination for Haptic Search in a 3D Environment". 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). pp. 845–852. doi:10.1109/BIOROB.2018.8487705. ISBN 978-1-5386-8183-1. Unknown parameter
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- ↑ Wolfe, Jeremy M. (2021). "Guided Search 6.0: An updated model of visual search". Psychonomic Bulletin & Review. 28 (4): 1060–1092. doi:10.3758/s13423-020-01859-9. PMID 33547630 Check
|pmid=value (help). Unknown parameter|s2cid=ignored (help) - ↑ Bohg, Jeannette; Hausman, Karol; Sankaran, Bharath; Brock, Oliver; Kragic, Danica; Schaal, Stefan; Sukhatme, Gaurav S. (2017). "Interactive Perception: Leveraging Action in Perception and Perception in Action". IEEE Transactions on Robotics. 33 (6): 1273–1291. arXiv:1604.03670. doi:10.1109/TRO.2017.2721939. Unknown parameter
|s2cid=ignored (help) - ↑ Tian, Stephen; Ebert, Frederik; Jayaraman, Dinesh; Mudigonda, Mayur; Finn, Chelsea; Calandra, Roberto; Levine, Sergey (2019). "Manipulation by Feel: Touch-Based Control with Deep Predictive Models" (PDF). 2019 International Conference on Robotics and Automation (ICRA). pp. 818–824. arXiv:1903.04128. doi:10.1109/ICRA.2019.8794219. ISBN 978-1-5386-6027-0. Unknown parameter
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- ↑ Fleer, Sascha; Moringen, Alexandra; Klatzky, Roberta L.; Ritter, Helge (2020). "Learning efficient haptic shape exploration with a rigid tactile sensor array". PLOS ONE. 15 (1): e0226880. arXiv:1902.07501. Bibcode:2020PLoSO..1526880F. doi:10.1371/journal.pone.0226880. PMC 6940144 Check
|pmc=value (help). PMID 31896135. - ↑ Klatzky, R. L.; Lederman, S. J. (1995). "Identifying objects from a haptic glance, Roberta Klatzky and Susan Lederman" (PDF). Perception & Psychophysics. 57 (8): 1111–1123. doi:10.3758/BF03208368. PMID 8539087. Unknown parameter
|s2cid=ignored (help) - ↑ "Teaching robots to perceive, understand, and interact through touch".
- ↑ https://haptipedia.org/?
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