W.S. Harwin

Bibliography

[1] G. Revesz "PSYCHOLOGY AND ART OF THE BLIND" Longmans Green and Co. (1950) - translated from the German by H. A. Wolff (UR Call 152.5 REV)

[2] W Schneider "Training high-performance skills - fallacies and guidelines" Human Factors 27 (3) pp. 285-300 (1985)

A high-performance skill is defined as one for which (1) more than 100 hours of training are required, (2) substantial numbers of individuals fail to develop proficiency, and (3) the performance of the expert is qualitatively different from that of the novice. Training prorams for developing high-performance skills are often based on assumptions that may be appropriate for simple skills. These assumptions can be fallacious when extended to high-performance skills. Six fallacies of training are described. Empirical characteristics of high-performance skill acquisition are reviewed. These include long acquisition periods, heterogeneity of component learning, development of inappropriate strategies, and training of time- sharing skills. A tentative set of working guidelines for the acquisition of high-performance skills is described.

[3] J.E. Colgate, P.E. Grafing, M.C. Stanley and G. Schenkel "Implementation of stiff virtual walls in force-reflecting interfaces" Virtual Reality Annual International Symposium (1993)

[4] J.E. Colgate and J.M. Brown "Factors Affecting the Z-Width of a Haptic Display" Proceedings of the IEEE 1994 International Conference on Robotics & Automation doi= 10.1109/ROBOT.1994.351077 pp. 3205--3210 http://www.mech.northwestern.edu/colgate/Website_Articles/Conferences/Colgate_1994_FactorsAffectingTheZ-WidthOfAHapticInterface.pdf?isnumber=8081&arnumber=351077 (1994)

This paper addresses the performance of force-reflecting interfaces (haptic displays). The authors suggest that an important measure of performance is the dynamic range of achievable impedances- `Z-Width' - and that an impedance is achievable if it satisfies a robustness property such as passivity. Several factors affecting Z-Width-sample-and-hold inherent interface dynamics displacement sensor quantization and velocity filtering-are discussed. A set of experiments designed to evaluate these factors is described and experimental results are presented. A striking result is that inherent interface damping exerts an overwhelming influence on Z-Width

[5] J.E. Colgate and G. Schenkel "Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces" American Control Conference pp. 3236-3240 http://www.mech.northwestern.edu/colgate/Website_Articles/Journals/Colgate_1997_PassivityOfAClassOfSampled-DataSystemsApplicationToHapticInterfaces.pdf (1994)

[6] D.A. Lawrence and J.D. Chapel "Performance trade-offs for hand controller design" IEEE International Conference on Robotics and Automation doi= 10.1109/ROBOT.1994.351076 pp. 3211-3216 (1994) (UR Call UR call FOLIO--629.892-IEE)

[7] J.M. Brown "A Theoretical and Experimental Investigation into the Factors Affecting the Z- Width of a Haptic Display" http://lims.mech.nwu.edu/publications/jmbrown/Masters_Thesis/mthesis.pdf (March 1995)

[8] C. Zilles and K. Salisbury "A Constraint-based God-object Method For Haptic Display" IROS International conference on intelligent robots and systems (1995)

[9] C.R. Carignan and K.R.. Cleary "Closed-Loop Force Control for Haptic Simulation of Virtual Environments" haptics-e.org 1 (2) http://www.haptics-e.org/Vol_01/index.html (February 2000)

This paper investigates the use of force control for improving haptic force feedback used in virtual reality simulations. Advances in control system design will help increase the fidelity of the haptic feedback thus giving operators a more realistic interface for simulation and training. The classic haptic controller with model feedforward is first described along with its inherent limitations. Modified approaches which use force control are then investigated and the resulting improvement in haptic resolution discussed. An example using a four-bar linkage is used to illustrate the fidelity of the haptic interface obtained using the classic versus force-feedback approaches. The tradeoffs entailed in going to force feedback controllers for haptic applications are also discussed.

[10] K. Hashtrudi-Zaad and S.E. Salcudean "Analysis and evaluation of stability and performance robustness for teleoperation control architectures" Robotics and Automation 2000. Proceedings. ICRA '00. IEEE International Conference on doi= 10.1109/ROBOT.2000.845141 4 pp. 3107 - 3113 (2000)

Teleoperation systems are subject to operator and environment dynamic uncertainties as well as communication-channel delays. For the first time in the context of teleoperation the passivity-based Llewellyn's two-port network absolute stability criterion as well as the minima and the dynamic ranges (Z-widths) of the operator and environment transmitted impedances are employed to analyze stability and performance robustness of two and four channels bilateral control architectures. The results of these evaluations and the above analysis tools provide a framework for robust bilateral controller design

[11] B. Hannaford and J. Ryu "Time Domain Passivity Control of Haptic Interfaces" IEEE Trans. on Robotics and Automation 18 (1) pp. 1-10 (Feb 2002)

[12] M. Zinn, O. Khatib, B. Roth and J. Salisbury "Towards a human-centered intrinsically-safe robotic manipulator" citeseer.ist.psu.edu/article/zinn02towards.html (2002)

[13] C.R. Carignan and D.L. Akin "Using robots for astronaut training" Control Systems Magazine IEEE doi= 10.1109/MCS.2003.1188771 23 (2) (April 2003)

[14] M. Zinn, O. Khatib, B. Roth and J. Salisbury "A New Actuation Concept for Human-Friendly Robot Design: Playing It Safe" IEEE Robotics & Automation Magazine pp. 12-21 (June 2004)

[15] S. McKnight, N. Melder, A.L. Barrow, W.S. Harwin and J.P. Wann "Psychophysical Size Discrimination using Multi-fingered Haptic Interfaces " Proceedings of 4th International Conference Eurohaptics 2004 , isbn ISBN 3-9809614-0-0 pp. 274-281 http://www.isrg.reading.ac.uk/common/publications/01774.pdf (2004)

Abstract. The use of multi-fingered haptic devices can potentially provide users much more realistic interactions in virtual environments compared to single-point contact devices. The usability of multi-fingered devices necessitates the need for an understanding of their performance characteristics. Multiple Phantoms devices were used in psychophysical size discrimination experiments using two and three fingered grasps. The results of these perceptual experiments were found to be comparable to those of singlefinger size discrimination studies as well as results obtained via finger-span methods. The findings imply that multi-fingered haptics can accurately replicate reality for tasks such as these. Additionally our findings indicate that a three-fingered haptic grasp can provide better discrimination than a two fingered grasp.

[16] N. Melder and W.S. Harwin "Extending the friction cone algorithm for arbitrary polygon based haptic objects" Haptic Interfaces for Virtual Environment and Teleoperator Systems 2004 IEEE doi= 10.1109/HAPTIC.2004.1287201 pp. 234 - 241 http://ieeexplore.ieee.org/iel5/9655/30512/01407005.pdf (2004)

[17] S. McKnight, N. Melder, A.L. Barrow, W.S. Harwin and J.P. Wann "Perceptual Cues for Orientation in a Two Finger Haptic Grasp Task" First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems IEEE doi= 10.1109/WHC.2005.107 pp. 549 - 550 http://ieeexplore.ieee.org/iel5/9655/30512/01407005.pdf (18-20 March 2005)

Single-point interaction haptic devices do not provide the natural grasp and manipulations found in the real world, as afforded by multi-fingered haptics. The present study investigates a two-fingered grasp manipulation involving rotation with and without force feedback. There were three visual cue conditions: monocular, binocular and projective lighting. Performance metrics of time and positional accuracy were assessed. The results indicate that adding haptics to an object manipulation task increases the positional accuracy but slightly increases the overall time taken.,

[18] A. Barrow and W. Harwin "A Dynamic Virtual Environment for Haptic Interaction" Proceedings of Eurohaptics Conference pp. 377-382 http://www.reading.ac.uk/~shshawin/pubs/f94.pdf (2006)

We present a rigid-body simulation for multi-contact haptic interaction. The simulation is designed to make use of modern multiprocessor machines and the framework for this is discussed. An existing haptic rendering algorithm is extended to: facilitate simple implementation on a number of object types enable the use of arbitrary objects as haptic cursors and allow multiple object contacts on the same haptic cursor. We also justify the use of hard-constraint based methods for rigid-body dynamics and discuss our implementation.

[19] L. Winfield, J. Glassmire, J.E. Colgate and M. Peshkin "T-PaD: Tactile Pattern Display through Variable Friction Reduction" World Haptics 2007 IEEE doi= 10.1109/WHC.2007.105 pp. 421 - 426 (March 2007)

[20] T. A. Smith, A. L. Barrow, R. G. Barrow and W. S. Harwin "A Novel Haptic Interface for Navigation in Large Volume Environments" World Haptics IEEE doi= 10.1109/WHC.2007.10 pp. 482 - 487 (22-24 March 2007)

Haptic interfaces can provide highly realistic interaction with objects within their workspace, but the task of interacting with objects over large areas or volumes is made difficult by the limits of interface travel. This paper details the development of a custom haptic interface for navigating a large virtual environment (a simulated supermarket), and investigation into different control methods which allow for haptic interaction over extremely large workspaces

[21] A. Barrow and W. Harwin "High Bandwidth Large Workspace Haptic Interaction: Flying Phantoms" Haptic Interfaces for Virtual Environments and Teleoperator Systems doi= 10.1109/HAPTICS.2008.4479961 (March 2008)

It is well understood that for haptic interaction: free motion performance and closed-loop constrained motion performance have conflicting requirements. The difficulties for both conditions are compounded when increased workspace is required as most solutions result in a reduction of achievable impedance and bandwidth. A method of chaining devices together to increase workspace without adverse effect on performance is described and analysed. The method is then applied to a prototype colloquially known as 'The Flying Phantom' and shown to provide high- bandwidth low impedance interaction over the full range of horizontal movement across the front of a human user.