Laterotactile Displays & Renderingpeople.rennes.inria.fr/Anatole.Lecuyer/Pasquero_Levesque.pdf ·...

Laterotactile Displays & Rendering : from Illusion to Application

Jerome Pasquero and Vincent Levesque

IEEE VR 2008 Tutorial on:“Integration of Haptics in Virtual Environments:

from Perception to Rendering”March 9th, 2008

©2008 Jerome Pasquero & Vincent Levesque

From the tutorial abstract…

“The design of virtual environments using haptic interfaces remains often driven more by the availability of technologythan by the necessity to solve real users' issues. There is a need today for a clear change of perspective ...”


Two Complementary PerspectivesAn Example

Tim

elin

e

Engineering DesignPerspective

Gap Interaction DesignPerspective

THMB device


The Key Main Players


Interaction DesignPerspective

• Prof. Vincent Hayward• Jerome Pasquero• Vincent Levesque• Qi Wang

• Prof. Karon MacLean• Joseph Luk• Shannon Little


Initial Stageinspiration

Observe tactile phenomenon & reduce it to its essence.

Identify context for which hapticfeedback offers potential benefit.

Tim

elin

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A Simple Illusionlateral skin deformation (laterotactile)

normal indentation

lateral deformation

instead of …

Hayward, V., Cruz-Hernandez, M. 2000. Tactile Display Device Using Distributed Lateral Skin Stretch. Proc. of the Haptic Interfaces for Virtual Environments and Teleoperator Systems Symposium, ASME Vol. DSC-69-2, pp. 1309-1314.


Mobile Interfacestypical issues & challenges

• High cognitive workload & competition for attention

• Limited screen real estate & awkward keypad space

• Unavailability of auditory and/or visual channel


Actuator Technologypicking the right one



Develop a suitable actuation technology.

Survey different technologies available & identify the most promising.

Tim

elin

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Tactile Feedback Technologystate-of-the-art

Electrostatic

Normal Indentation

Friction

Vibration

Lateral Skin Stretch

Heat

Electrocutaneous

Suction Pressure

Acoustic Radiation Pressure

Piezoelectric

MotorsShape Memory Alloys

Electromagnetic Micro-Coils

Peltier Elements

Shear

Tang & Beebe, 1998

Jungman, Schlaak, 2002Van Doren et al., 1987

Pneumatic Valve and Dimple

Taylor et al., 1997

Shinohara et al., 1998

Ino et al., 1993

Moy et al.,

2000

Caldwell et al., 1999

ElectrostimulationKajimoto et al., 2003

Pressure Valve

Surface Acoustic Wave Nara et al., 2001

Makino et al., 2003

Ionic Conducting Polymer gel Film (ICPF)

Iwam

oto

et al.

, 200

4

Konyo et al., 2000

Technologies Interaction Modes

Air Jet

Asamura et al.,

1998Khoudja & Hafez, 2004

Summers &

Chanter, 2002

Pasquero, J. 2006. Survey on communication through touch. Technical Report TR-CIM-06.04. Center for Intelligent Machines, McGill University.

(laterotactile)


Tactile Feedback Technologylaterotactile transducer with piezo-actuators

laterotactiletransducer

piezoelectric bender


Prototypesincremental improvements

Virtual Braille Display(early iteration)

THMB Transducer(new design)


Tactile Iconsexploring the device’s expressive space

example of 6 different tactile icons(traveling waves)

tactile icon editor

transducer


Design Stagean iterative process



Develop specific usage scenarios that take into account the known strengths & limitations of the technology.


Design & build iterative prototypes with apps in mind.


Tim

elin

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The Resulting Device: THMBTactile Handheld Miniature Bimodal device

Pasquero, J., Luk, J., Levesque, V., Wang, Q., Hayward, V., MacLean K. E., Haptically Enabled Handheld Information Display with Distributed Tactile Transducer, IEEE transactions on Multimedia, 9(4), p. 746-753, June 2007..


Mobile Interaction Design3 different interactions

Spatial Navigationsection links

links

header

Browsing of large web pages

Luk, J., Pasquero, J., Little, S., MacLean, K. E., Levesque, V. and Hayward, V. 2006. A Role for Haptics in Mobile Interaction: Initial Design Using a Handheld Tactile Display Prototype. Proc. of the ACM 2006 Conference on Human Factors in Computing Systems, CHI 2006. pp. 171-180

slas

hdot

.com

target


Perceptual Characterizationwhere the two perspectives merge





Characterize the expressive perceptual capabilities of the prototype.



Tim

elin

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Perceptual Characterizationevaluating the device’s expressive capability

5 waveforms

0.35 m/s0.24 m/s0.18 m/s

100%50%

3 speeds 2 amplitudesX X

Perceptual characterization using 30 different tactile icons

Pasquero, J., Luk, J., Little, S. MacLean, K. E. 2006. Perceptual Analysis of Haptic Icons: an Investigation into the Validity of Cluster Sorted MDS. Proc. 14th Symposium on Haptic Interfaces For Virtual Environment And Teleoperator Systems IEEE VR 2006. pp. 437-444


Perceptual Characterizationconclusions

Most Distinguishable Stimulus Characteristics:1. Direction2. Waveform (e.g., texture vs. no texture, repeating vs. non-repeating)3. Amplitude4. Duration

Therefore,• Use direction and waveform as primary parameters for designing

haptic icons.• Use amplitude and duration as secondary.

Luk, J., Pasquero, J., Little, S., MacLean, K. E., Levesque, V. and Hayward, V. 2006. A Role for Haptics in Mobile Interaction: Initial Design Using a Handheld Tactile Display Prototype. Proc. of the ACM 2006 Conference on Human Factors in Computing Systems, CHI 2006. pp. 171-180


Back to the applications







Reconsider device design and applications in light of results from perceptual characterization.


Tim

elin

e




Mobile Interaction DesignHow it all fits together

Spatial Navigationsection links

linksheader

Browsing of Large Web Pages

Use traveling waves icons to communicate speed and direction of movement.

Use different waveformsto give a sense of information flow when navigating

slas

hdot

.com


Experimental Validation









Tim

elin

e



Validate the application.


Showing Added-Valuea challenge

section linkslinks

Header

Browsing of Large Web Pages

Could not find

improvement in

performancesl

ashd

ot.c

om


Summary









Tim

elin

e



Validate the application.


Back to the drawing boardlooking deeper for added–value

• Better awareness of the environment

• Less conspicuous gestures

• More appropriate in social contexts

Can laterotactile feedback reduce the number of glances at the screen ? Why would it be useful?


Overviewpart 2

2D Tactile Display Applications forvisually impaired persons

1. Braille

2. Tactile graphics


2D Tactile DisplaySTReSS2

Q. Wang, V. Hayward (2006) Compact, Portable, Modular, High-performance, Distributed Tactile Transducer Device Based on Lateral Skin Deformation. Proc. HAPTICS’06, pp. 67-72.


Brailleintroduction

Commercial braille displays

single line

40 or 80 braille cells

one actuator per pin

Laterotactile braille display

finger-sized display

virtual page of arbitrary size

cheaper and more portable

http://www.flickr.com/photos/44124267260@N01/2154495003


Brailletactile rendering

1. Implement rendering algorithms

based on

intuition

experience

experimentation

adjust with graphical interface

2. Select promising algorithms

session with reference users

3. Evaluate experimentally

with visually impaired subjects

V. Levesque, J. Pasquero and V. Hayward (2007) Braille Display by Lateral Skin Deformation with the STReSS2 Tactile Transducer. Proc. World Haptics Conference 2007, Tsukuba, Japan, pp. 115-120.


Brailledot rendering

Texture=0% Texture=25% Texture=100%

No texture

smooth bump

similar to braille dot

low contrast




Low texture

textured bump


increased constrast

No texture

smooth bump


low contrast




Texture alone

textured patch

different from braille

very high constrast

No texture

smooth bump


low contrast

Low texture

textured bump


increased constrast


Braillecell rendering

method 1 method 2 method 4method 3


Brailleletter identification experiment

0%

20%

40%

60%

80%

100%

S1 S2 S3 S4 S5 S6 S7 mean

T=0%

T=25%

T=100%

n/a

percentage of letters correctly read

Conclusions

display could be optimized for braille

rendering could be optimized for contrast

Task: read meaningless strings


Tactile Graphicsintroduction

Current technology

raised lines on paper or plastic

talking tactile tablets

experimental devices

2) dots1) grating

3) vibration 4) combined

Laterotactile display

3 rendering methods (so far)

programmable

interactive

http://www.rnib.org.uk


Tactile Graphics1) grating


Tactile Graphics1) grating


Tactile Graphics2) dots


Tactile Graphics3) vibration


Tactile Graphics4) combined renderings


Tactile Graphicsexperimental results

• V. Levesque and V. Hayward (2008) Tactile Graphics Rendering Using Three Laterotactile Drawing Primitives. Proc. Haptic Symposium 2008, Reno, Nevada.

Shape identification

Icon identification

Orientation identification

Spatial frequency scaling


Tactile Graphicsapplications

tactile illustrations for schoolbooks

mathematical concepts, diagrams, bar charts, maps

collaboration with Université de Montréal


Demonstrations

tactile graphics

Haptic Symposium, March 13-14

mobile haptics

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