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Abstract: A New Multi-finger Tactual Display
A New Multi-finger Tactual Display
Hong Z. Tan
William M. Rabinowitz
Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exhibition, Dynamics Systems and Control Division, DSC-Vol.58, 515-522.
© 1996 ASME.
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Abstract:
A multi-finger positional display (the Tactuator) was developed to
study communication through the kinesthetic and vibrotactile aspects
of the tactual sensory system of the hand. The display consists of
three independent single contact-point actuators interfaced
(individually) with the fingerpads of the thumb, the index finger, and
the middle finger. Each actuator utilizes a disk-drive
head-positioning motor augmented with angular position feedback from a
precision rotary variable differential transformer (RVDT). A
floating-point DSP system provides real-time positional control using
a digital PID controller. Stimuli from threshold to about 50 dB SL can
be delivered throughout the frequency range from near DC to above 300
Hz, thereby encompassing the perceptual range from gross motion to
vibration. Actuator frequency and step responses are well modeled as a
second-order linear system. Distortion is low allowing delivery of
arbitrary stimulus waveforms, e.g., 25 mm low-frequency motion with
superimposed high-frequency vibration. System noise and inter-channel
crosstalk are also small. As one example of behavioral performance
verification, absolute thresholds measured with the stimulator are in
general agreement with values in the literature. Overall, the
Tactuator accurately follows its drive waveforms and is well suited
for a variety of multi-finger tactual perceptual studies.
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