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Table of contents
Introduction
1 Toward a New Electronic Travel Aid for the Blind
1.1 Blind mobility aids
1.1.1 Classic aids
1.1.2 Electronic travel aids
1.1.3 Synthesis and discussion
1.2 Intelligent Glasses: a visuo-tactile ETA for the blind
1.2.1 Vision system
1.2.2 Tactile display
1.3 Criteria for the design of the IG tactile display
1.3.1 Guidelines for tactile displays: a psychophysiology approach
1.3.2 Choice of actuation technology
1.4 Essential features of shapememory alloys
1.5 Conclusion
2 Design and Characterization of SMA Helical Springs
2.1 Modeling of shapememory alloys
2.2 The thermal dynamics of SMAs
2.2.1 Heat transfer analysis
2.2.2 Heat-exchange coefficient h
2.2.3 Parameter determination through an example
2.2.4 Phase transformation
2.3 SMA mechanical behavior
2.3.1 Strain-deflection behavior
2.3.2 Temperature dependence
2.3.3 Load-deflection-temperature relation
2.3.4 Behavior of the plastic region: evolution of rb
2.3.5 Material constants
2.3.6 Deformation behavior of an SMA helical spring
2.4 Experimental procedure
2.4.1 Material
2.4.2 Parameter identification
2.4.3 Phase transformation parameters
2.4.4 Resistivity/Electrical resistance
2.5 Experimental evaluation of SMA thermomechanical properties
2.5.1 Thermal behavior of the NiTi spring
2.5.2 Mechanical behavior of the NiTi spring
2.5.3 Micro-structural observations on the NiTi specimens
2.6 Conclusion
3 Miniature SMA Actuator for Tactile Binary Information Display
3.1 SMA based actuators
3.1.1 Two-way actuator using a mass
3.1.2 Biased actuator
3.1.3 SMA antagonist actuator
3.1.4 Bistablemechanisms
3.2 An SMA based actuator for touch stimulation
3.2.1 Proposed solutions
3.3 Prototype and performance
3.4 Conclusion
4 A Low-Cost Highly-Portable Tactile Display with SMAs
4.1 Tactile display
4.1.1 Design and implementation
4.1.2 Prototype
4.2 Drive system
4.2.1 Electronic drive
4.2.2 Crossbar circuit analysis and control method
4.2.3 Software
4.3 A thermal array structure
4.4 Conclusion
5 Preliminary Psychophysical Evaluation of the Tactile Display
5.1 First evaluation of the tactile display
5.1.1 Experimental procedure
5.2 Experiment 1: tactile acuity and Braille
5.2.1 Session 1 – Location of a tactile stimulus
5.2.2 Session 2 – Location of tactile stimuli
5.2.3 Session 3 – Bimodal perception
5.3 Experiment 2: shape recognition
5.3.1 Session 1 – Primitive shapes
5.3.2 Session 2 – Various shapes
5.4 Experiment 3: space interaction and navigation
5.4.1 Session 1 – Direction recognition
5.4.2 Session 2 – Environment structure
5.4.3 Session 3 – Navigation and tactilemaps
5.5 Conclusion
Conclusions
Bibliography
Publications
Appendixes
