Tham khảo tài liệu 'human-robot interaction part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Integration of Electrotactile and Force Displays for Telexistence 143 electrodes Fig. 2 . The electrical currents flow from an electrode to adjacent electrodes through the skin. This display can selectively stimulate each type of receptor and produce vibratory and pressure sensations at an arbitrary frequency. By periodically changing the pin used for stimulation we can produce the electrotactile stimulus at any points. Therefore the electrotactile display allows us to perceive touch sensation which help determine position and exact shape of the object. In addition the electrode plate of this display is small and lightweight. Therefore it does not affect the workspace. Further we can easily mount this display on all types of force displays. Fig. 2. Electrodes of electrotactile display and method of electrical stimulus. Force display The force display presents the reactive and friction force on object surfaces. It can improve the stability of our hand movements when we manipulate an object. Currently several types of force displays are used Bar-Cohen et al. 2000 . In this study we consider a small-sized display that has multiple degrees of freedom DOFs such as PHANToM SensAble Tec. and CyberGrasp Immersion Tec. . Some of these force displays provide a wide workspace and sufficient force feedback to our hand. Integration of the displays When a user touches objects in a remote or virtual environment using our integrated system he she can perceive the spatially distributed tactile sensation and reactive force of objects. From these sensations the user can easily identify the position of the object its posture and shape . he she can easily recognize the object that he she touches. For example from the force sensation of a rounded surface and the tactile sensation of concave-convex surfaces we can recognize that we are touching a gear Fig. 3 . We believe that this haptic information will also help the user to manipulate objects dexterously. 144 Human-Robot .
