Table Of ContentReproduction of Tactual Textures
Springer Series on Touch and Haptic Systems
SeriesEditors
ManuelFerre
MarcO.Ernst
AlanWing
SeriesEditorialBoard
CarloA.Avizzano
JoséM.Azorín
SoledadBallesteros
MassimoBergamasco
AntonioBicchi
MartinBuss
JanvanErp
MatthiasHarders
WilliamS.Harwin
VincentHayward
JuanM.Ibarra
AstridKappers
AbderrahmaneKheddar
MiguelA.Otaduy
AngelikaPeer
JeromePerret
Jean-LouisThonnard
Forfurthervolumes:
www.springer.com/series/8786
Michaël Wiertlewski
Reproduction
of Tactual
Textures
Transducers, Mechanics and Signal
Encoding
MichaëlWiertlewski
DepartmentofMechanicalEngineering
NorthwesternUniversity
Evanston,IL,USA
ISSN2192-2977 ISSN2192-2985(electronic)
SpringerSeriesonTouchandHapticSystems
ISBN978-1-4471-4840-1 ISBN978-1-4471-4841-8(eBook)
DOI10.1007/978-1-4471-4841-8
SpringerLondonHeidelbergNewYorkDordrecht
LibraryofCongressControlNumber:2012955652
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Series Editors’ Foreword
This is the sixth volume of the “Springer Series on Touch and Haptic Systems”,
whichispublishedincollaborationbetweenSpringerandtheEuroHapticsSoci-
ety.
Reproduction of Tactual Textures is focused on the characterization and repro-
ductionofhumantactileinteraction.Itsgrowingimportanceisdemonstratedbyits
applicationinnewsmartandintelligentdevices,whicharecontinuouslyreplacing
physicalcontrolkeysandparts,bysoftwarecomponentsthatimplementthesameor
evenmoreadvancedfunctionalities.Inthistypeofdevice,thetactilestimulusrep-
resentsthedifferencebetweenasimplegraphicalinterfaceandaninteractivedevice
thatproperlyfeedsbacktotheuserhis/heraction.
ThemajorityofcontributionsinReproductionofTactualTexturesarerelatedto
the analysis of the haptic fingertip interaction. The studies reported are based on
variousadvancedset-upsthathavebeenusedtoperformexperimentsabouttactile
perception under different conditions. Mechanical properties have been recorded
in order to systematically record and reproduce vibrations, textures and tangential
forces.Thestudiesarebasedonthephysiologyofhumantactileperception,which
takes into account the bandwidth and displacement of mechanoreceptors that par-
ticipateduringthetactileinteraction.
Reproduction of Tactual Textures is based on the PhD thesis of Michaël Wiert-
lewskiwhoreceivedthe2012EuroHapticsSocietyPhDaward.Histhesiswasse-
lected as the best of many other excellent theses in the field of haptic research.
In addition to the empirical studies of human tactile interaction, Dr Wiertlewski’s
monographincludesanexcellentoverviewofthestateoftheartintactileperception
researchandtechnologiesandalsorepresentsanimportantcontributioninthisfield.
ManuelFerre
MarcErnst
AlanWing
vii
Acknowledgements
Iwishtoexpressmygratitudetomyfriends,colleaguesandmentors,whoinspired
thiswork.
Inparticular,IsincerelywishtothankVincentHaywardwhoguidedmethrough
this work and shared his most audacious ideas. I’m grateful to José Lozada, his
guidanceandsupporthavebeendeterminantinthesuccessofthiswork.Mygrati-
tudealsogoestoEdwigePissalouxwhobelievedinmefromthebeginning,andto
MoustaphaHafezwhomotivatedthisproject.
IwouldliketothankallthemembersoftheSensoryandAmbientInterfacesLab-
oratoryatCEAList.Inparticular,ChristianBolzmacher,FlorentSouvestre,Mehdi
Boukallel,HannaYoussef,MargaritaAnastasovaandChristineMégardforadvice
andhelp.IspentmemorablemomentswithallthePhDcandidatesfromCEAList,
Hussein Sleiman, Cécile Pacoret, Emir Vela and Guillaume Trannoy. I also thank
the ‘nouvelle vague’, Lucie Brunet, Edouard Leroy and especially Charles Hudin
who collaborated on the last chapter. I thank Juan La Rivera and Corentin Roche
whoappliedtheresultsofthisresearchintoaworkingprototype.Mygratitudealso
goes to Annick Latare and Anne Goué for helping me through the administration,
and to Marc Itchah for his advised tips for designing and machining the devices
presentedinthisbook.
I’m also indebtedto Yon Visell and Jonathan Platkiewiczwho took the time to
readandcorrectthismanuscript.Ithankallthemembersofthehapticgroupofthe
Institute for Robotics and Intelligent Systems, Ildar Farkhatdinov, Amir Berrezag,
AbdenbiMohand-Ousaid,Irène Fasiello,ChaoWangChenandRafal Pijewski,as
well as Lionel Rigoux, Jérémie Naudé and Camille Dianoux for their warm wel-
comeduringthelastpartofthejourney.
Last but not least, I thank my family and my friends for their support and my
wife,Bénédicte,whowasmyfinestallyinthisadventure.
MichaëlWiertlewski
ix
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 LiteratureReview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 HumanPerceptionofTactualTexture . . . . . . . . . . . . . . . . 5
2.1.1 TextureSensing . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.2 TextureandSlipDiscrimination . . . . . . . . . . . . . . . 10
2.1.3 Mechanotransduction . . . . . . . . . . . . . . . . . . . . 13
2.1.4 VibrationSensitivity . . . . . . . . . . . . . . . . . . . . . 16
2.2 Bio-tribologyoftheSkin . . . . . . . . . . . . . . . . . . . . . . 18
2.2.1 FingertipAnatomy . . . . . . . . . . . . . . . . . . . . . . 18
2.2.2 MechanicalBehavioroftheFingertip . . . . . . . . . . . . 20
2.2.3 FrictionPropertiesonRoughandSmoothSurfaces . . . . . 23
2.2.4 ImplicationforthePerceptionwiththeBareFinger . . . . 26
2.3 ReproductionofImpactandSlip . . . . . . . . . . . . . . . . . . 28
2.3.1 SignalAcquisition . . . . . . . . . . . . . . . . . . . . . . 28
2.3.2 ReproductionbyForceFeedback . . . . . . . . . . . . . . 29
2.3.3 ControlledFrictionDisplaysApproaches . . . . . . . . . . 30
2.3.4 VibrationBasedDisplays . . . . . . . . . . . . . . . . . . 31
2.3.5 SimulatedMaterialandTextures . . . . . . . . . . . . . . 33
2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3 CausalityInversionintheReproductionofRoughness . . . . . . . . 45
3.1 OpeningRemarks . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.2.1 Finger-SurfaceInteraction . . . . . . . . . . . . . . . . . . 46
3.2.2 PresentStudy . . . . . . . . . . . . . . . . . . . . . . . . 46
xi
xii Contents
3.2.3 BidirectionalApparatus . . . . . . . . . . . . . . . . . . . 47
3.2.4 MainResult . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.3 Apparatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.3.1 SensorOperation . . . . . . . . . . . . . . . . . . . . . . 47
3.3.2 ActuatorOperation . . . . . . . . . . . . . . . . . . . . . 49
3.4 ExperimentalProcedureforPerceptualCalibration . . . . . . . . . 50
3.4.1 Stimuli . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.4.2 SubjectsandProcedure . . . . . . . . . . . . . . . . . . . 51
3.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4 TheSpatialSpectrumofTangentialSkinDisplacement . . . . . . . . 55
4.1 OpeningRemarks . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.3 RoughnessandTextureinManufacturingandVirtualReality . . . 57
4.4 DesignMotivationforaTextureTransducer . . . . . . . . . . . . 58
4.4.1 PerformanceConsiderations . . . . . . . . . . . . . . . . . 59
4.4.2 Description. . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4.3 TransducerModeling . . . . . . . . . . . . . . . . . . . . 60
4.4.4 Identification . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.5 Experiment1:TextureIdentification . . . . . . . . . . . . . . . . 65
4.5.1 MethodsandMaterials . . . . . . . . . . . . . . . . . . . 66
4.5.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.5.3 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.6 Experiment2:ToneDiscrimination . . . . . . . . . . . . . . . . . 72
4.6.1 MaterialsandMethods . . . . . . . . . . . . . . . . . . . 73
4.6.2 ResultsandDiscussion . . . . . . . . . . . . . . . . . . . 74
4.7 Discussion:ImplicationsforHumanandRoboticTouch . . . . . . 74
4.7.1 TheAbsenceofSpatiallyDistributedInformationDoes
NotImplyTemporalRepresentation . . . . . . . . . . . . 75
4.7.2 CandidateRepresentation:TheSpatialSpectrogramsand
theSpatialFormantOrganization . . . . . . . . . . . . . . 75
4.7.3 OtherPossibilitiesBasedonNeurophysiology . . . . . . . 77
4.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5 Transducer for Mechanical Impedance Testing over a Wide
FrequencyRange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.1 OpeningRemarks . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.3 ImpedanceMaskingApproach . . . . . . . . . . . . . . . . . . . 83
5.3.1 Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.3.2 ErrorAnalysis . . . . . . . . . . . . . . . . . . . . . . . . 84
5.3.3 ActiveFeedbackControlApproaches . . . . . . . . . . . . 84
Contents xiii
5.4 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.4.1 Electro-MechanicalArrangement . . . . . . . . . . . . . . 86
5.4.2 ImpedanceFeedbackControlLoop . . . . . . . . . . . . . 86
5.4.3 Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.4.4 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.5.1 UnloadedClosed-LoopResponse . . . . . . . . . . . . . . 89
5.5.2 ProofMasses. . . . . . . . . . . . . . . . . . . . . . . . . 90
5.5.3 ProofCantilever . . . . . . . . . . . . . . . . . . . . . . . 90
5.5.4 FingertipMeasurement . . . . . . . . . . . . . . . . . . . 91
5.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6 MechanicalBehavioroftheFingertipinLateralTraction . . . . . . 95
6.1 OpeningRemarks . . . . . . . . . . . . . . . . . . . . . . . . . . 95
6.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.3 PreviousApproachestotheDirectDeterminationofFingertip
Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.4 MaterialsandMethods. . . . . . . . . . . . . . . . . . . . . . . . 97
6.4.1 Apparatus . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.4.2 ContactCondition . . . . . . . . . . . . . . . . . . . . . . 99
6.4.3 Participants . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.4.4 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.4.5 DataProcessing . . . . . . . . . . . . . . . . . . . . . . . 101
6.5 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.5.1 FrequencyResponse . . . . . . . . . . . . . . . . . . . . . 103
6.5.2 MechanicalParameters . . . . . . . . . . . . . . . . . . . 104
6.5.3 Small-SignalLinearity . . . . . . . . . . . . . . . . . . . . 104
6.5.4 NormalForce . . . . . . . . . . . . . . . . . . . . . . . . 105
6.5.5 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . 107
6.5.6 Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
6.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7 VibrationsofaFingerSlidingonFlatandWavySurfaces . . . . . . 113
7.1 OpeningRemarks . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.3 ChoiceofSurfaces . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.4 Finger-SurfaceInteractionMeasurement . . . . . . . . . . . . . . 116
7.4.1 HardwareComponents . . . . . . . . . . . . . . . . . . . 116
7.4.2 DigitalSignalProcessing . . . . . . . . . . . . . . . . . . 117
7.4.3 Gratings . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
7.4.4 ParticipantsandProcedure . . . . . . . . . . . . . . . . . 119
7.5 ObservationsontheResults . . . . . . . . . . . . . . . . . . . . . 119
7.5.1 LackofStationarity . . . . . . . . . . . . . . . . . . . . . 119
7.5.2 EnergyDecayinBackgroundNoise. . . . . . . . . . . . . 120
