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3. Conclusion

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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4. Spatial Patterns of Whole-Hand Cutaneous Vibration During Active Touch

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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5. Spatiotemporal Haptic Effects via Control of Cutaneous Wave Propagation

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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6. Conformable Distributed Haptic Feedback to Large Areas of the Skin

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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7. Compression of Dynamic Tactile Information in the Human Hand

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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8. A Wearable Tactile Sensor Array for Large Area Remote Vibration Sensing in the Hand

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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9. Background

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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10. Introduction

Author

Shao, Yitian, Ferre, Manuel, Series Editor, Ernst, Marc O., Series Editor, Wing, Alan, Series Editor, Avizzano, Carlo A., Editorial Board Member, Bergamasco, Massimo, Editorial Board Member, Bicchi, Antonio, Editorial Board Member, van Erp, Jan, Editorial Board Member, Harders, Matthias, Editorial Board Member, Harwin, William S., Editorial Board Member, Hayward, Vincent, Editorial Board Member, Ibarra, Juan M., Editorial Board Member, Kappers, Astrid M. L., Editorial Board Member, Otaduy, Miguel A., Editorial Board Member, Peer, Angelika, Editorial Board Member, Perret, Jerome, Editorial Board Member, Prattichizzo, Domenico, Editorial Board Member, Ryu, Jee-Hwan, Editorial Board Member, Thonnard, Jean-Louis, Editorial Board Member, Tanaka, Yoshihiro, Editorial Board Member, Wang, Dangxiao, Editorial Board Member, Zhang, Yuru, Editorial Board Member, and Shao, Yitian

Published
2022
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11. A Wearable Tactile Sensor Array for Large Area Remote Vibration Sensing in the Hand

Author

Shao, Yitian, Hu, Hui, and Visell, Yon

Subjects
Computer Science - Robotics
Abstract

Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate the sensing abilities of the human hand. Recent research reveals that human touch sensing relies on the transmission of mechanical waves throughout tissues of the hand. This provides the hand with remarkable abilities to remotely capture distributed vibration signatures of touch contact. Little engineering attention has been given to important sensory system. Here, we present a wearable device inspired by the anatomy and function of the hand and by human sensory abilities. The device is based on a 126 channel sensor array capable of capturing high resolution tactile signals during natural manual activities. It employs a network of miniature three-axis sensors mounted on a flexible circuit whose geometry and topology were designed match the anatomy of the hand, permitting data capture during natural interactions, while minimizing artifacts. Each sensor possesses a frequency bandwidth matching the human tactile frequency range. Data is acquired in real time via a custom FPGA and an I$^2$C network. We also present physiologically informed signal processing methods for reconstructing whole hand tactile signals using data from this system. We report experiments that demonstrate the ability of this system to accurately capture remotely produced whole hand tactile signals during manual interactions., Comment: 11 pages

Published
2019

16. Spatial patterns of cutaneous vibration during whole-hand haptic interactions

Author

Shao, Yitian, Hayward, Vincent, and Visell, Yon

Subjects
Information and Computing Sciences, Human-Centred Computing, Clinical Research, Hand, Humans, Skin Physiological Phenomena, Touch, Vibration, touch, haptics, vibration, cutaneous, skin
Abstract

We investigated the propagation patterns of cutaneous vibration in the hand during interactions with touched objects. Prior research has highlighted the importance of vibrotactile signals during haptic interactions, but little is known of how vibrations propagate throughout the hand. Furthermore, the extent to which the patterns of vibrations reflect the nature of the objects that are touched, and how they are touched, is unknown. Using an apparatus comprised of an array of accelerometers, we mapped and analyzed spatial distributions of vibrations propagating in the skin of the dorsal region of the hand during active touch, grasping, and manipulation tasks. We found these spatial patterns of vibration to vary systematically with touch interactions and determined that it is possible to use these data to decode the modes of interaction with touched objects. The observed vibration patterns evolved rapidly in time, peaking in intensity within a few milliseconds, fading within 20-30 ms, and yielding interaction-dependent distributions of energy in frequency bands that span the range of vibrotactile sensitivity. These results are consistent with findings in perception research that indicate that vibrotactile information distributed throughout the hand can transmit information regarding explored and manipulated objects. The results may further clarify the role of distributed sensory resources in the perceptual recovery of object attributes during active touch, may guide the development of approaches to robotic sensing, and could have implications for the rehabilitation of the upper extremity.

Published
2016

20. Tactile Sensing, Information, and Feedback via Wave Propagation

Author

Shao, Yitian

Subjects
Electrical engineering, Biomechanics, Robotics, cutaneous wave, haptic feedback, haptic sensing, skin dynamics, tactile signal, wearable haptics
Abstract

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. The overarching goal of the proposed PhD research is to capture whole-hand tactile signals produced during natural interactions, to characterize the information content in these signals, and to use the results to guide the design of new electronic devices for tactile feedback.The first part of the thesis is motivated by recent findings that touch contact elicits tactile signals can travel long distances in the hand. In order to elucidate the role of these processes in natural touch interactions, I first developed wearable sensing instrumentation, comprised of high channel count accelerometer arrays, for capturing whole-hand mechanical signals during manual interactions. The temporal, spatial and frequency structure of the signals on the hand were found to vary systematically with hand interactions and could be used to identify them. These results are consistent with findings in perception research indicating that vibrotactile signals distributed throughout the hand can transmit information regarding explored and manipulated objects.In the second part of the thesis, I investigated the information content in these tactile waves using signal processing methods. Motivated by the structure in these signals, and neuroscience considerations, I sought to extract informative representations 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 dimensional tactile signals in the whole hand, sufficient to accurately classify touched objects and interactions. The primitive patterns were organized in ways reflecting the anatomy and function of the hand and the manual activities involved. In the final part of the PhD, informed by the findings from parts 1 and 2 about spatiotemporal distributions of touch-elicited tactile signals, I developed new methods for distributed haptic feedback adapted to the mechanics and dynamics of the skin. I developed new spatiotemporal haptic effects by using a single actuator to generate tactile stimuli with dynamically controlled spatial extent, based on the frequency-dependent damping of propagating waves in the skin. I 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. This yielded practical haptic technologies that can produce rich touch feedback for human-computer interaction or virtual reality.

Published
2020

22. Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception

Author

Hachisu, Taku, Reardon, Gregory, Shao, Yitian, Suzuki, Kenji, and Visell, Yon

Abstract

The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors affecting the delivery of interpersonal vibrotactile feedback via bracelets. Our results show that low-frequency vibrations elicited through tangential actuation are efficiently transmitted from the wrist to the hand, with amplitude varying based on distance, frequency, and actuation direction. We also found that vibrations transmitted to different locations on the hand can be felt by a second person, with perceptual intensity correlated with oscillation magnitude at the touched location. Additionally, we demonstrate how wrist-interfaced devices can elicit spatial vibration patterns throughout the hand surface, which can be manipulated by the frequency and direction of actuation at the wrist. Our experiments provide important insights into the human factors associated with interpersonal vibrotactile feedback and have significant implications for the design of technologies that promote social well-being.

Published
2024
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25. The Airflow Reversal Law in Ventilation System after Coal and Gas Outburst in Tunneling Roadway

Author

Tan Li, Genyin Cheng, Shao Yitian, Junhong Si, Lin Li, Wei Hu, and Yiqiao Wang

Subjects
Article Subject, QC1-999, Airflow, 0211 other engineering and technologies, 02 engineering and technology, Pressure coefficient, Degree (temperature), law.invention, 020401 chemical engineering, law, Coal, 021108 energy, 0204 chemical engineering, Civil and Structural Engineering, geography, geography.geographical_feature_category, Computer simulation, business.industry, Physics, Mechanical Engineering, Air door, Mechanics, Geotechnical Engineering and Engineering Geology, Condensed Matter Physics, Inlet, Mechanics of Materials, Ventilation (architecture), Environmental science, business
Abstract

Considering the coal and gas outburst phenomenon in the mining space, this paper analyzes the main characteristics of coal and gas outburst accidents, defines the outburst airflow reversal degree, and constructs a simplified topology graph of tunneling ventilation system, while the air door is not destroyed. Using the numerical simulation method, this paper elaborates on the relationship between the outburst pressure and airflow reversal degree. The results indicate that the inlet pressure increases to 264 hPa and the outlet pressure increases to 289 hPa when the outburst pressure increases from 1 hPa to 1 MPa, and the relative variation coefficient of pressure decreases from 1501.5 to 1.62 in the inlet of return airway and decreases from 2002 to 1.65 in the outlet of return airway. Furthermore, the air velocity decreases from −1.38 to −284.44 m/s in the inlet and increases from 3.10 to 297.38 m/s in the outlet. Moreover, the gas concentration of the inlet and outlet in return airway increases rapidly with the increase of outburst pressure. When the outburst pressure is greater than 0.15 MPa, the gas concentration will be over 98% in tunneling ventilation system. This paper also finds out a cubic polynomial relationship existing between the reversal degree and the outburst pressure. It provides the prediction of coal and gas outburst and serves as a guidance in case mine ventilation disturbances occur.

Published
2021

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