Tactile Sensing, Information, and Feedback via Wave Propagation PDF
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Springer Series on Touch and Haptic Systems Yitian Shao Tactile Sensing, Information, and Feedback via Wave Propagation Springer Series on Touch and Haptic Systems SeriesEditors ManuelFerre,UniversidadPolitécnicadeMadrid,Madrid,Spain MarcO.Ernst,UlmUniversity,Ulm,Germany AlanWing,UniversityofBirmingham,Birmingham,UK EditorialBoard CarloA.Avizzano,ScuolaSuperioreSant’Anna,Pisa,Italy MassimoBergamasco,ScuolaSuperioreSant’Anna,Pisa,Italy AntonioBicchi,UniversityofPisa,Pisa,Italy JanvanErp,UniversityofTwente,Enschede,TheNetherlands MatthiasHarders,UniversityofInnsbruck,Innsbruck,Austria WilliamS.Harwin,UniversityofReading,Reading,UK VincentHayward,SorbonneUniversité,Paris,France JuanM.Ibarra,Cinvestav,MexicoCity,Mexico AstridM.L.Kappers,EindhovenUniversityofTechnology,Eindhoven,The Netherlands MiguelA.Otaduy,UniversidadReyJuanCarlos,Madrid,Spain AngelikaPeer,LiberaUniversitàdiBolzano,Bolzano,Italy JeromePerret,Haption,Soulgé-sur-Ouette,France DomenicoPrattichizzo,UniversityofSiena,Siena,Italy Jee-HwanRyu,KoreaAdvancedInstituteofScienceandTechnology,Daejeon, Korea(Republicof) Jean-LouisThonnard,UniversitéCatholiquedeLouvain, Ottignies-Louvain-la-Neuve,Belgium YoshihiroTanaka,NagoyaInstituteofTechnology,Nagoya,Japan DangxiaoWang,BeihangUniversity,Beijing,China YuruZhang,BeihangUniversity,Beijing,China Moreinformationaboutthisseriesathttps://link.springer.com/bookseries/8786 Yitian Shao Tactile Sensing, Information, and Feedback via Wave Propagation YitianShao HapticIntelligenceDepartment MaxPlanckInstituteforIntelligentSystem Stuttgart,Baden-Württemberg,Germany ISSN2192-2977 ISSN2192-2985 (electronic) SpringerSeriesonTouchandHapticSystems ISBN978-3-030-90838-6 ISBN978-3-030-90839-3 (eBook) https://doi.org/10.1007/978-3-030-90839-3 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SwitzerlandAG2022 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressedorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Dedicatedtomygrandma, whohadbeenwaiting formetocomehome. Series Editors’ Foreword ThisisthenineteenthvolumeofSpringerSeriesonTouchandHapticSystems,which ispublishedasacollaborationbetweenSpringerandtheEuroHapticsSociety. Tactile Sensing, Information, and Feedback via Wave Propagation provides a comprehensiveintroductiontohapticstimulifromthepointofviewofmechanical wavepropagationintheskin.Thisbookisorganizedintoeightchapters.Thefirstpart isdevotedtocharacterizingthevibratoryresponseoftheskinatregionssurrounding wherethestimuliareapplied.Machinelearningandstatisticalmethodshaveshown how these wave patterns accurately encode the modes of interaction with touched objects. The second part of this work focuses on studying spatiotemporal patterns of vibration in the hand in order to provide a hierarchical description of tactile informationwhichisalignedwithprominentanatomicalfeaturesofthehand.Finally, thebookfocusesonahapticdisplaydevelopedbyusingcompliantliquiddielectric actuatorswhichcoveralargeareaofthehand.Theresultsdescribedarerelevantto bothhapticneuroscienceandengineering. This book originates from the thesis of Dr. Yitian Shao who has received the EuroHaptics award for the Best Ph.D. Thesis in 2020. This award recognizes the relevanceofthiswork,whichcouldopenanewpathtoresearchmethodsandprovide reliablequalitativeresearchtoolsthatmaybenefitthewholehapticscommunityin designingevermorerealisticinterfaces. Madrid,Spain ManuelFerre Ulm,Germany MarcO.Ernst Birmingham,UK AlanWing October2021 vii Preface A longstanding goal of engineering has been to realize haptic interfaces that can convey realistic sensations of touch, comparable to signals presented via visual or audio displays. Today, this ideal remains far from realization, due to the difficulty of characterizing and electronically reproducing the complex and dynamic tactile signals that are produced during even the simplest touch interactions. This book presentsmethodstocapturewhole-handtactilesignalsproducedduringnaturalinter- actions,characterizetheinformationcontentinthesesignals,andusetheresultsto guidethedesignofnewelectronicdevicesfortactilefeedback. Thefirstpartofthebookismotivatedbyrecentfindingsthattouchcontact-elicited tactilesignalscantravellongdistancesinthehand.Inordertoelucidatetheroleof these processes in natural touch interactions, my colleagues and I first developed wearable sensing instrumentation, comprised of high channel count accelerometer arrays,forcapturingwhole-handmechanicalsignalsduringmanualinteractions.The temporal,spatial,andfrequencystructuresofthesignalsonthehandwerefoundto varysystematicallywithhandinteractionsandcouldbeusedtoidentifythem.These resultsareconsistentwithfindingsinperceptionresearch,indicatingthatvibrotactile signalsdistributedthroughoutthehandcantransmitinformationregardingexplored andmanipulatedobjects. Inthesecondpartofthebook,weinvestigatedtheinformationcontentinthese tactilewaves usingsignalprocessing methods. Motivated bythe structureinthese signals,andneuroscienceconsiderations,wesoughttoextractinformativerepresen- tations of these signals based on solutions of an optimization problem formulated as convolutional sparse coding of natural tactile signals. This yielded a dictionary of spatiotemporal primitives that provided compact descriptions of information in high-dimensionaltactilesignalsinthewholehand,sufficienttoaccuratelyclassify touched objects and interactions. The primitive patterns were organized in ways reflectingtheanatomyandfunctionofthehandandthemanualactivitiesinvolved. Finally, informed by the findings about spatiotemporal distributions of touch- elicited tactile signals, we developed new methods for distributed haptic feedback ix x Preface adaptedtothemechanicsanddynamicsoftheskin.Wedevelopednewspatiotem- poralhapticeffectsbyusingasingleactuatortogeneratetactilestimuliwithdynam- icallycontrolledspatialextent,basedonthefrequency-dependentdampingofprop- agating waves in the skin. We designed a wearable haptic feedback device based on compliant liquid dielectric actuators, which can render tactile feedback with substantial displacements and forces via a large active area interfacing the skin. Thisyieldedpracticalhaptictechnologiesthatcanproducerichtouchfeedbackfor human–computerinteractionorvirtualreality. Stuttgart,Germany YitianShao October2021 Acknowledgements ThisbookisproducedbasedonmyPh.D.thesis.Ireallyappreciatetheassistance andsupportfrommycolleagues,friends,andfamilymembers. First, I would like to thank my advisor, Yon Visell, for guiding and supporting methroughmyentireacademicjourney.IhavebeenworkingwithhimasaPh.D.in thefieldofhapticsforfiveyearsattheUniversityofCalifornia,SantaBarbaraand twoyearsatDrexelUniversity,andIreceivedmuchvaluableadviceaboutresearch topics,methodologies,andcommunicationskills.Mythesiswouldnotbecompleted withouthisinstructions.Ialsowanttothankmycommitteemembers,KatieByl,B. S.ManjunathandTobiasHollerer,fortheirencouragementandguidanceinmyPh.D. qualifyingexamanddefense.IwanttothankKatherineJ.Kuchenbeckerforoffering methepostdoctoralresearcherpositionandgrantingmetheopportunitytojointhe Max Planck Society and the EuroHaptics Society and move my academic career forward. Many works included in this book cannot be accomplished without the contri- bution from my collaborators: Vincent Hayward, Bharat Dandu, Hui Hu, James Holbery,SiyuanMaandSangHoYoon.Ifeelhonoredtohavetheopportunitiesto workwiththoseexcellentresearchersandreceivehelpfromthem. Through my Ph.D. study, I learned a lot from my colleagues in the RE Touch Lab.DiscussionswithGregoryReardonabouttechnicalproblems,likeinphysicsor statistics, are always constructive and inspiring. Shantonu Biswas and Thanh Nho Doinfluencedmewiththeirexpertiseinnanoengineeringandmaterialscience.Also, Iamluckytohavemanysupportivecolleaguesandfriendsinthelab.AnzuKawazoe canalwayscheermeupwithherlightheartedmood,unveilingtheoptimisticsideof lifetome.ZachWellsandHaraldSchafer,besideresearchcollaborations,brought me a lot of fun outside the lab, directing me to the ocean around Santa Barbara. I also very enjoyed the company of Yufei Hao, Taku Hachisu, Simone Fani, Jasper vanderLagemaat,andBehnamKhojastehduringtheirvisittomylab.Startingfrom the time I joined the lab in Philadelphia, I have been gaining support from Marco JankoandBinLi.Iamreallygratefultohaveallofthemasmycolleagues. Myfriendsoutsidethelabalsohelpedmepassingthroughthechallengingpaths towardthefinishlineofmyPh.D.IwanttogivespecialthankstoMingweiTang, xi
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