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In this letter, we propose a new data-driven approach for haptic modeling of normal interactions on homogeneous viscoelastic deformable objects. The approach is based on a well-known machine learning technique: random forest. Here, we employ a random forest for regression. We acquire discrete-time interaction data for many automated cyclic compressions of a deformable object. A random forest is trained to estimate a nonparametric relationship between the position and response forces. We train the forest on very simple normal interactions. Our results show that a model trained with just 10% of the training data is capable of modeling other unseen complex normal homogeneous interactions with good accuracy. Thus, it can handle large and complex datasets. In addition, our approach requires five times less training data than the standard approach in the literature to provide similar accuracy.

In the recent past, data-driven approaches have gained importance for modeling and rendering of haptic properties of deformable objects. In this paper, we propose a new data-driven approach based on a well known machine learning technique: random forest. We train the random forest for regression for estimating the input-output mapping between discrete-time interaction data (position/displacement and force) collected on a homogeneous deformable object. Unlike currently existing data-driven approaches, we use at most 1% of the recorded interaction data for the training of the random forest. Even then, the trained random forest model reproduces all the interactions used for the training with a good accuracy. This also provides promising results on unseen data. When employed for haptic rendering, the model estimates smooth and stable interaction forces at an update rate more than 650 Hz.

This paper showcases attachable/detachable haptic modules, nicknamed haptic enchanters, by presenting their conceptual prototypes and quantifying their information transmission capacity. Haptic enchanters can be attached to ordinary devices and wearables to endow them with the ability of creating programmable haptic stimuli, thereby transforming them to effective haptic communication devices. In particular, our prototype enchanters are designed to localize vibrotactile stimulation to the neighborhood of attachment site, and this spatial isolation allows for effective spatiotemporal information delivery using multiple enchanters. We demonstrate that haptic enchanters enable very high capacity of information transfer (4.55–7.06 bits) for spatiotemporal vibration sequences rendered with two, three, and four enchanters. We also assert that haptic enchanters provide better user experiences by using location-enabled feedback in a game application than the whole-device feedback. These results instantiate the performance of haptic enchanters as effective and convenient communication accessories and their potential for applications.

This paper showcases attachable/detachable haptic modules, nicknamed haptic enchanters, by presenting their conceptual prototypes and quantifying their information transmission capacity. Haptic enchanters can be attached to ordinary devices and wearables to endow them with the ability of creating programmable haptic stimuli, thereby transforming them to effective haptic communication devices. In particular, our prototype enchanters are designed to localize vibrotactile stimulation to the neighborhood of attachment site, and this spatial isolation allows for effective spatiotemporal information delivery using multiple enchanters. We demonstrate that haptic enchanters enable very high capacity of information transfer (4.55–7.06 bits) for spatiotemporal vibration sequences rendered with 2, 3, and 4 enchanters. These results instantiate the performance of haptic enchanters as effective and convenient communication accessories and their potential for applications.

This paper presents a mid-air tactile display based on indirect laser radiation designed to provide continuous moving tactile sensations along a contour on the skin. The display uses a small laser device with 1064 nm wavelength mounted on a motorized gimbal for the control of laser radiation direction. A laser is irradiated on an elastic medium attached to the user's body, and the medium is made of black rubber-coated polyvinyl chloride (PVC) for laser-induced thermoelastic deformation. LaserStroke generates tactile stimuli sufficient for clear perception, and this is confirmed by measurements. We also report a psychophysical experiment carried out to study the spatial acuity of laser-induced tactile stimuli by measuring point localization thresholds. Results indicate that LaserStroke has adequate performance for transmitting continuously moving tactile sensations through the air.

This demonstration presents a novel form of mid-air tactile display, LaserStroke, that makes use of a laser irradiated on the elastic medium attached to the skin. LaserStroke extends a laser device with an orientation control platform and a magnetic tracker so that it can elicit tapping and stroking sensations to a user's palm from a distance. LaserStroke offers unique tactile experiences while a user freely moves his/her hand in midair.