@article {03507772035,
	title = {Haptic feedback applications for robonaut},
	journal = {Industrial Robot},
	volume = {30},
	number = {6},
	year = {2003},
	note = {Haptic feedback;Humanoid robot;Teleoperator;},
	pages = {531 - 542},
	abstract = {<p>Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA{\textquoteright}s Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot{\textquoteright}s workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.</p>},
	keywords = {Computer control systems, Feedback control, Haptic interfaces, Robotics, Space applications, Telecontrol equipment},
	url = {http://dx.doi.org/10.1108/01439910310506800},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/IndustrialRobotO\%27Malley-Ambrose2003.pdf},
	author = {O{\textquoteright}Malley, M.K. and Robert O. Ambrose}
}
@article {02427145860,
	title = {The effect of force saturation on the haptic perception of detail},
	journal = {IEEE/ASME Transactions on Mechatronics},
	volume = {7},
	number = {3},
	year = {2002},
	note = {Force saturation effect;Haptic perception;Force feedback;},
	pages = {280 - 288},
	abstract = {<p>This paper presents a quantitative study of the effects of maximum capable force magnitude of a haptic interface on the haptic perception of detail. Specifically, the haptic perception of detail is characterized by identification, detection, and discrimination of round and square cross-section ridges, in addition to corner detection tests. Test results indicate that performance, measured as a percent correct score in the perception experiments, improves in a nonlinear fashion as the maximum allowable level of force in the simulation increases. Further, all test subjects appeared to reach a limit in their perception capabilities at maximum-force output levels of 3-4 N, while the hardware was capable of 10 N of maximum continuous force output. These results indicate that haptic interface hardware may be able to convey sufficient perceptual information to the user with relatively low levels of force feedback. The data is compiled to aid those who wish to design a stylus-type haptic interface to meet certain requirements for the display of physical detail within a haptic simulation.</p>},
	keywords = {Computer control systems, Computer simulation, Feedback control, Haptic interfaces, Identification (control systems), Nonlinear control systems, Virtual reality},
	url = {http://dx.doi.org/10.1109/TMECH.2002.802725},
	attachments = {https://mahilab.rice.edu/sites/default/files/publications/omalley2002ieee.pdf},
	author = {O{\textquoteright}Malley, M.K. and Michael Goldfarb}
}
