This paper presents a haptic device that has been conceived to render both kinesthetic and thermal sensations computed from operator interaction with a 3D virtual environment. Computer simulation is based on a precise modeling algorithm of the thermal exchange between a bare finger and an object. The rendering is based on a closed loop control of both temperature and thermal flow signals. Each module composing the overall device and the rendering process are thoroughly described. We show that the whole system exhibits good technical performances in 3D multimodal interactive simulation

This paper presents a new method and formalism to achieve thermal feedback for teleoperation and telepresence applications. The basic idea is to realize an approach similar to force reflecting telerobotics. That is to say, bilateral coupling between thermal temperature and thermal flux variables. Thermal properties and exchange during contact are modeled with their relating equations. Similarly to force feedback coupling, four potential controllers are possible; we implemented all of them using stable and linear control schemes. Experimental results show that some coupling are superior in terms of thermal transparency and stability. We used two Peltier heat pumps as thermal sources; the one serving as a thermal display while the other one is to play the role of a "robotic finger".

This paper presents the characterization in terms of force and displacement of a new interpenetrated network conductive polymer (IPN-CP) to be used as an actuator that works in air conditions. This last property opens many potential applications in robotics, bionics, haptics interface technology (namely tactile feedback devices), etc. Different experimental investigations show that the proposed actuator exhibits acceptable force behavior and capabilities (relatively to its size and mass) when classical solvents are used. However, IPN-CP with ionic liquid solvents show poor capabilities. Since ionic solvents guarantee long life usability, we found it somehow disappointing namely for robotic applications. We give some explanations for that, but we believe that this drawback could mid solutions in the near future.

The paper addresses the design of an inclusive haptic display based on a multilevel display concept. The end version prototype will operate with bare hand/finger interaction to serve virtual reality applications, psychological and psychophysics studies on haptic perception, and computer haptics including combined texture/kinesthetic rendering algorithms. The proposed concept is an alternative design that brings together different actuation technologies in order to replicate, with high-fidelity, haptic sensation. Other potentials, such as the possibility to blend the haptic and the visualization spaces, are also demonstrated by this concept.