Pub Date : 2023-11-13DOI: 10.1109/TOH.2023.3332402
Qianqian Tian;Jixiao Liu;Kuo Liu;Shijie Guo
The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental motor primitives: contact-on, stick-to-slip, and full slip, then examined the tactile features associated with each motor primitive, including the center of mass (COM) and the centroid of the contact pressure distribution matrix and the total contact area. The change in fingertip contact area during contact-on was in accordance with a first-order kinetic model. In the stick-to-slip, there was a generalized linear relationship between the fingertip skin stretch and the magnitude of the tangential force. Moreover, the skin stretch of the fingertip mirrored the direction of the motion. During the full slip, the COM's movement effectively represented the direction of the tangential force, with an error margin of no more than five degrees. Experiments showed that certain fingertip motions can be portrayed, transmitted, and replicated using tactile information. This research opens potential avenues for remote immersive physical communication in robotics and other related fields.
{"title":"Tactile Features of Human Finger Contact Motor Primitives","authors":"Qianqian Tian;Jixiao Liu;Kuo Liu;Shijie Guo","doi":"10.1109/TOH.2023.3332402","DOIUrl":"10.1109/TOH.2023.3332402","url":null,"abstract":"The human hand interacts with the environment via physical contact, and tactile information is closely associated with finger movement patterns. Studying the relationship between motor primitives of the finger and the corresponding tactile feedback provides valuable insight into the nature of touch and informs the simulation of humanoid tactile. This research decomposed finger contact into three fundamental motor primitives: contact-on, stick-to-slip, and full slip, then examined the tactile features associated with each motor primitive, including the center of mass (COM) and the centroid of the contact pressure distribution matrix and the total contact area. The change in fingertip contact area during contact-on was in accordance with a first-order kinetic model. In the stick-to-slip, there was a generalized linear relationship between the fingertip skin stretch and the magnitude of the tangential force. Moreover, the skin stretch of the fingertip mirrored the direction of the motion. During the full slip, the COM's movement effectively represented the direction of the tangential force, with an error margin of no more than five degrees. Experiments showed that certain fingertip motions can be portrayed, transmitted, and replicated using tactile information. This research opens potential avenues for remote immersive physical communication in robotics and other related fields.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"848-860"},"PeriodicalIF":2.9,"publicationDate":"2023-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"92153751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-10DOI: 10.1109/TOH.2023.3331032
Yan Zhang;Riting Xia;Xiaoying Sun
Tactile rendering in virtual interactive scenes plays an important role in improving the quality of user experience. The subjective rating is currently the mainstream measurement to assess haptic rendering realism, which ignores various subjective and objective uncertainties in the evaluation process and also neglects the mutual influence among tactile renderings. In this paper, we extend the existing subjective evaluation and systematically propose a fuzzy evaluation method of haptic rendering realism. Hierarchical fuzzy scoring based on confidence interval is introduced to reduce the difficulty of expressing tactile feeling with deterministic rating. After the fuzzy statistics based on the membership function, we further use close-degree and transitive closure to calculate the fuzzy equivalence matrix between different tactile renderings. Fuzzy clustering is carried out to complete the comprehensive evaluation in the case of multiple indicators. Five tactile objects are used to simulate various situations of tactile rendering. The experimental results of haptic perceptual similarity evaluation show the existence of fuzziness in the subjective evaluation and verify the feasibility of the proposed method applied to multi-indicator evaluation. We also conclude that the proposed method outperforms the existing methods in terms of time cost and labor cost.
{"title":"Fuzzy Evaluation Method for Haptic Perceptual Similarity","authors":"Yan Zhang;Riting Xia;Xiaoying Sun","doi":"10.1109/TOH.2023.3331032","DOIUrl":"10.1109/TOH.2023.3331032","url":null,"abstract":"Tactile rendering in virtual interactive scenes plays an important role in improving the quality of user experience. The subjective rating is currently the mainstream measurement to assess haptic rendering realism, which ignores various subjective and objective uncertainties in the evaluation process and also neglects the mutual influence among tactile renderings. In this paper, we extend the existing subjective evaluation and systematically propose a fuzzy evaluation method of haptic rendering realism. Hierarchical fuzzy scoring based on confidence interval is introduced to reduce the difficulty of expressing tactile feeling with deterministic rating. After the fuzzy statistics based on the membership function, we further use close-degree and transitive closure to calculate the fuzzy equivalence matrix between different tactile renderings. Fuzzy clustering is carried out to complete the comprehensive evaluation in the case of multiple indicators. Five tactile objects are used to simulate various situations of tactile rendering. The experimental results of haptic perceptual similarity evaluation show the existence of fuzziness in the subjective evaluation and verify the feasibility of the proposed method applied to multi-indicator evaluation. We also conclude that the proposed method outperforms the existing methods in terms of time cost and labor cost.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"826-835"},"PeriodicalIF":2.9,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72209146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-08DOI: 10.1109/TOH.2023.3330368
Thomas E. Augenstein;C. David Remy;Edward S. Claflin;Rajiv Ranganathan;Chandramouli Krishnan
Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robots use controllable active force elements (e.g., motors). Semi-passive robots can address cost and safety limitations of active robots, but it is unclear if they have utility in rehabilitation. Here, we assessed if a semi-passive robot could provide haptic guidance to facilitate motor learning. We first performed a theoretical analysis of the robot's ability to provide haptic guidance, and then used a prototype to perform a motor learning experiment that tested if the guidance helped participants learn to trace a shape. Unlike prior studies, we minimized the confounding effects of visual feedback during motor learning. Our theoretical analysis showed that our robot produced guidance forces that were, on average, 54 $^circ$ from the current velocity (active devices achieve 90 $^circ$ ). Our motor learning experiment showed, for the first time, that participants who received haptic guidance during training learned to trace the shape more accurately (97.57% error to 52.69%) than those who did not receive guidance (81.83% to 78.18%). These results support the utility of semi-passive robots in rehabilitation.
{"title":"Teaching Motor Skills Without a Motor: A Semi-Passive Robot to Facilitate Learning","authors":"Thomas E. Augenstein;C. David Remy;Edward S. Claflin;Rajiv Ranganathan;Chandramouli Krishnan","doi":"10.1109/TOH.2023.3330368","DOIUrl":"10.1109/TOH.2023.3330368","url":null,"abstract":"Semi-passive rehabilitation robots resist and steer a patient's motion using only controllable passive force elements (e.g., controllable brakes). Contrarily, passive robots use uncontrollable passive force elements (e.g., springs), while active robots use controllable active force elements (e.g., motors). Semi-passive robots can address cost and safety limitations of active robots, but it is unclear if they have utility in rehabilitation. Here, we assessed if a semi-passive robot could provide haptic guidance to facilitate motor learning. We first performed a theoretical analysis of the robot's ability to provide haptic guidance, and then used a prototype to perform a motor learning experiment that tested if the guidance helped participants learn to trace a shape. Unlike prior studies, we minimized the confounding effects of visual feedback during motor learning. Our theoretical analysis showed that our robot produced guidance forces that were, on average, 54\u0000<inline-formula><tex-math>$^circ$</tex-math></inline-formula>\u0000 from the current velocity (active devices achieve 90\u0000<inline-formula><tex-math>$^circ$</tex-math></inline-formula>\u0000). Our motor learning experiment showed, for the first time, that participants who received haptic guidance during training learned to trace the shape more accurately (97.57% error to 52.69%) than those who did not receive guidance (81.83% to 78.18%). These results support the utility of semi-passive robots in rehabilitation.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"346-359"},"PeriodicalIF":2.4,"publicationDate":"2023-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71521309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article introduces a novel system designed to convey the three-dimensional positions surrounding the user. The system incorporates circumferential vibrotactile arrays strategically positioned on both the user's head and waist. Through the synergy of this two-dimensional arrangement and modulations in vibration amplitude, the system adeptly presents comprehensive three-dimensional positional information. Two prototypes, namely a spherical model and a cylindrical model, were employed as mappings between three-dimensional positions and vibration amplitudes. In Experiment 1, we evaluated the system's performance in indicating positions in depth, orientation, and height. Notably, discrimination rates for depth (Task 1) and orientation (Task 2) were 60% and 54%, respectively. Regarding height discrimination in the head-to-waist condition (Tasks 3 and 4), the cylindrical model outperformed the spherical model (54% and 52% vs. 32% and 36%). Conversely, in the head-above and waist-below condition (Task 5), the cylindrical model achieved a discrimination rate of 45%, while the spherical model did not. In Experiment 2, we explored the use of the cylindrical model to convey a moving three-dimensional position. The results showed an impressive 81% correct response rate, affirming the system's effectiveness in presenting three-dimensional motion stimuli.
{"title":"Three-Dimensional Position Presentation via Head and Waist Vibrotactile Arrays","authors":"Syunsuke Tawa;Hikaru Nagano;Yuichi Tazaki;Yasuyoshi Yokokohji","doi":"10.1109/TOH.2023.3329929","DOIUrl":"10.1109/TOH.2023.3329929","url":null,"abstract":"This article introduces a novel system designed to convey the three-dimensional positions surrounding the user. The system incorporates circumferential vibrotactile arrays strategically positioned on both the user's head and waist. Through the synergy of this two-dimensional arrangement and modulations in vibration amplitude, the system adeptly presents comprehensive three-dimensional positional information. Two prototypes, namely a spherical model and a cylindrical model, were employed as mappings between three-dimensional positions and vibration amplitudes. In Experiment 1, we evaluated the system's performance in indicating positions in depth, orientation, and height. Notably, discrimination rates for depth (Task 1) and orientation (Task 2) were 60% and 54%, respectively. Regarding height discrimination in the head-to-waist condition (Tasks 3 and 4), the cylindrical model outperformed the spherical model (54% and 52% vs. 32% and 36%). Conversely, in the head-above and waist-below condition (Task 5), the cylindrical model achieved a discrimination rate of 45%, while the spherical model did not. In Experiment 2, we explored the use of the cylindrical model to convey a moving three-dimensional position. The results showed an impressive 81% correct response rate, affirming the system's effectiveness in presenting three-dimensional motion stimuli.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"319-333"},"PeriodicalIF":2.4,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71434240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-11-03DOI: 10.1109/TOH.2023.3329172
Wenjie Wang;Jie Wang;Yang Luo;Xiaohua Wang;Huajian Song
Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of RMIS, with a particular focus on direct and indirect force sensing. In this survey, the relevant literature on various sensing principles, haptic sensor design standards, and sensing technologies between 2000 and 2022 is reviewed. This survey can also serve as a roadmap for future developments by identifying the shortcomings of the field and discussing the emerging trends in force sensing methods.
{"title":"A Survey on Force Sensing Techniques in Robot-Assisted Minimally Invasive Surgery","authors":"Wenjie Wang;Jie Wang;Yang Luo;Xiaohua Wang;Huajian Song","doi":"10.1109/TOH.2023.3329172","DOIUrl":"10.1109/TOH.2023.3329172","url":null,"abstract":"Minimally invasive surgery (MIS) is commonly used in some robotic-assisted surgery (RAS) systems. However, many RAS lack the strength and tactile sensation of surgical tools. Therefore, researchers have developed various force sensing techniques in robot-assisted minimally invasive surgery (RMIS). This paper provides a systematic classification and review of force sensing approaches in the field of RMIS, with a particular focus on direct and indirect force sensing. In this survey, the relevant literature on various sensing principles, haptic sensor design standards, and sensing technologies between 2000 and 2022 is reviewed. This survey can also serve as a roadmap for future developments by identifying the shortcomings of the field and discussing the emerging trends in force sensing methods.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"702-718"},"PeriodicalIF":2.9,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71434239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-30DOI: 10.1109/TOH.2023.3328256
Kezi Li;Jeremy D. Brown
Individuals with upper-extremity limb difference who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information, these approaches often rely on single-modality feedback schemes which are necessary but insufficient for the feedforward and feedback control strategies employed by the central nervous system. Multi-modality feedback approaches have been gaining attention in several application domains, however, the utility for myoelectric prosthesis use remains unclear. In this study, we investigated the utility of dual-modality haptic feedback in a virtual EMG-controlled grasp-and-hold task with a brittle object and variable load force. We recruited N = 20 participants without limb difference to perform the task in four conditions: no feedback, vibration feedback of incipient slip, squeezing feedback of grip force, and dual (vibration + squeezing) feedback of incipient slip and grip force. Results suggest that receiving any haptic feedback is better than receiving none, however, dual-modality feedback is far superior to either single-modality feedback approach in terms of preventing the object from breaking or dropping. Control with dual-modality feedback was also seen as more intuitive than with either of the single-modality feedback approaches.
{"title":"Dual-Modality Haptic Feedback Improves Dexterous Task Execution With Virtual EMG-Controlled Gripper","authors":"Kezi Li;Jeremy D. Brown","doi":"10.1109/TOH.2023.3328256","DOIUrl":"10.1109/TOH.2023.3328256","url":null,"abstract":"Individuals with upper-extremity limb difference who use myoelectric prostheses currently lack the haptic sensory information needed to perform dexterous activities of daily living. While considerable research has focused on restoring this haptic information, these approaches often rely on single-modality feedback schemes which are necessary but insufficient for the feedforward and feedback control strategies employed by the central nervous system. Multi-modality feedback approaches have been gaining attention in several application domains, however, the utility for myoelectric prosthesis use remains unclear. In this study, we investigated the utility of dual-modality haptic feedback in a virtual EMG-controlled grasp-and-hold task with a brittle object and variable load force. We recruited N = 20 participants without limb difference to perform the task in four conditions: no feedback, vibration feedback of incipient slip, squeezing feedback of grip force, and dual (vibration + squeezing) feedback of incipient slip and grip force. Results suggest that receiving any haptic feedback is better than receiving none, however, dual-modality feedback is far superior to either single-modality feedback approach in terms of preventing the object from breaking or dropping. Control with dual-modality feedback was also seen as more intuitive than with either of the single-modality feedback approaches.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"816-825"},"PeriodicalIF":2.9,"publicationDate":"2023-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71412052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-30DOI: 10.1109/TOH.2023.3327765
Ziliang Zhou;Xiaoxin Wang;Yicheng Yang;Jia Zeng;Honghai Liu
Understanding electrotactile parametric properties is a crucial milestone in achieving intuitive haptics. Perceptual intensity is a primary property, but its exploration remains challenging due to subjectivity. To address this problem, this study conducted two experiments on fingertips and proposed two metrics based on significant findings. Experiment 1 found a significant linear relationship (R $^{2}$ = 0.981) between pulse amplitude (PA) and pulse width (PW) in the logarithmic plane, and proposed a metric of parameter intensity (PI) to estimate the intensity of parameters. In Experiment 2, subjective intensity (SI) was defined and measured using a scale of 0 to 10. A metric model of SI (SI model) was derived based on the linear relationship (R $^{2}>$ 0.78) between PI and measured SI. A calibration method was proposed and its prediction accuracy has been verified. An average RMSE of 11.2 $%$ indicated an accuracy close to the subjective judgment error of 8.7 $%$ . Results are consistent across subjects and four different electrode-skin conditions (ESC). The findings of this study provide theoretical support for SI prediction and regulation, which is significant for electrotactile feedback.
{"title":"Exploring Perceptual Intensity Properties Using Electrotactile Stimulation on Fingertips","authors":"Ziliang Zhou;Xiaoxin Wang;Yicheng Yang;Jia Zeng;Honghai Liu","doi":"10.1109/TOH.2023.3327765","DOIUrl":"10.1109/TOH.2023.3327765","url":null,"abstract":"Understanding electrotactile parametric properties is a crucial milestone in achieving intuitive haptics. Perceptual intensity is a primary property, but its exploration remains challenging due to subjectivity. To address this problem, this study conducted two experiments on fingertips and proposed two metrics based on significant findings. Experiment 1 found a significant linear relationship (R\u0000<inline-formula><tex-math>$^{2}$</tex-math></inline-formula>\u0000 = 0.981) between pulse amplitude (PA) and pulse width (PW) in the logarithmic plane, and proposed a metric of parameter intensity (PI) to estimate the intensity of parameters. In Experiment 2, subjective intensity (SI) was defined and measured using a scale of 0 to 10. A metric model of SI (SI model) was derived based on the linear relationship (R\u0000<inline-formula><tex-math>$^{2}>$</tex-math></inline-formula>\u00000.78) between PI and measured SI. A calibration method was proposed and its prediction accuracy has been verified. An average RMSE of 11.2\u0000<inline-formula><tex-math>$%$</tex-math></inline-formula>\u0000 indicated an accuracy close to the subjective judgment error of 8.7\u0000<inline-formula><tex-math>$%$</tex-math></inline-formula>\u0000. Results are consistent across subjects and four different electrode-skin conditions (ESC). The findings of this study provide theoretical support for SI prediction and regulation, which is significant for electrotactile feedback.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"805-815"},"PeriodicalIF":2.9,"publicationDate":"2023-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71412053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-10-25DOI: 10.1109/TOH.2023.3327506
Qianhui Wei;Min Li;Jun Hu
Background: Mediated social touch has been widely studied for remote affective communication in the field of human-computer interaction. Goal: We conducted this literature review to comprehensively understand the state of the art of the designs and evaluations of mediated social touch for mobile devices. Method: We selected 52 articles based on related keywords from four main digital libraries, i.e., ACM, IEEE, Springer, and Scopus. Results: We summarized from these articles how mediated social touch signal is designed, prototyped, and evaluated, and what the main research findings are. Based on the analysis, we identified opportunities for later work.
{"title":"Mediated Social Touch With Mobile Devices: A Review of Designs and Evaluations","authors":"Qianhui Wei;Min Li;Jun Hu","doi":"10.1109/TOH.2023.3327506","DOIUrl":"10.1109/TOH.2023.3327506","url":null,"abstract":"Background: Mediated social touch has been widely studied for remote affective communication in the field of human-computer interaction. Goal: We conducted this literature review to comprehensively understand the state of the art of the designs and evaluations of mediated social touch for mobile devices. Method: We selected 52 articles based on related keywords from four main digital libraries, i.e., ACM, IEEE, Springer, and Scopus. Results: We summarized from these articles how mediated social touch signal is designed, prototyped, and evaluated, and what the main research findings are. Based on the analysis, we identified opportunities for later work.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"785-804"},"PeriodicalIF":2.9,"publicationDate":"2023-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50161497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors affecting the delivery of interpersonal vibrotactile feedback via bracelets. Our results show that low-frequency vibrations elicited through tangential actuation are efficiently transmitted from the wrist to the hand, with amplitude varying based on distance, frequency, and actuation direction. We also found that vibrations transmitted to different locations on the hand can be felt by a second person, with perceptual intensity correlated with oscillation magnitude at the touched location. Additionally, we demonstrate how wrist-interfaced devices can elicit spatial vibration patterns throughout the hand surface, which can be manipulated by the frequency and direction of actuation at the wrist. Our experiments provide important insights into the human factors associated with interpersonal vibrotactile feedback and have significant implications for the design of technologies that promote social well-being.
{"title":"Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception","authors":"Taku Hachisu;Gregory Reardon;Yitian Shao;Kenji Suzuki;Yon Visell","doi":"10.1109/TOH.2023.3327394","DOIUrl":"10.1109/TOH.2023.3327394","url":null,"abstract":"The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors affecting the delivery of interpersonal vibrotactile feedback via bracelets. Our results show that low-frequency vibrations elicited through tangential actuation are efficiently transmitted from the wrist to the hand, with amplitude varying based on distance, frequency, and actuation direction. We also found that vibrations transmitted to different locations on the hand can be felt by a second person, with perceptual intensity correlated with oscillation magnitude at the touched location. Additionally, we demonstrate how wrist-interfaced devices can elicit spatial vibration patterns throughout the hand surface, which can be manipulated by the frequency and direction of actuation at the wrist. Our experiments provide important insights into the human factors associated with interpersonal vibrotactile feedback and have significant implications for the design of technologies that promote social well-being.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"372-383"},"PeriodicalIF":2.4,"publicationDate":"2023-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10296001","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50161496","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Thermal sensation is crucial to enhancing our comprehension of the world and enhancing our ability to interact with it. Therefore, the development of thermal sensation presentation technologies holds significant potential, providing a novel method of interaction. Traditional technologies often leave residual heat in the system or the skin, affecting subsequent presentations. Our study focuses on presenting thermal sensations with low residual heat, especially cold sensations. To mitigate the impact of residual heat in the presentation system, we opted for a non-contact method, and to address the influence of residual heat on the skin, we present thermal sensations without significantly altering skin temperature. Specifically, we integrated two highly responsive and independent heat transfer mechanisms: convection via cold air and radiation via visible light, providing non-contact thermal stimuli. By rapidly alternating between perceptible decreases and imperceptible increases in temperature on the same skin area, we maintained near-constant skin temperature while presenting continuous cold sensations. In our experiments involving 15 participants, we observed that when the cooling rate was $-$ 0.2 to $-$ 0.24 $^circ$ C/s and the cooling time ratio was 30 to 50%, more than 86.67% of the participants perceived only persistent cold without any warmth.
{"title":"Integration of Independent Heat Transfer Mechanisms for Non-Contact Cold Sensation Presentation With Low Residual Heat","authors":"Jiayi Xu;Shoichi Hasegawa;Kiyoshi Kiyokawa;Naoto Ienaga;Yoshihiro Kuroda","doi":"10.1109/TOH.2023.3324754","DOIUrl":"10.1109/TOH.2023.3324754","url":null,"abstract":"Thermal sensation is crucial to enhancing our comprehension of the world and enhancing our ability to interact with it. Therefore, the development of thermal sensation presentation technologies holds significant potential, providing a novel method of interaction. Traditional technologies often leave residual heat in the system or the skin, affecting subsequent presentations. Our study focuses on presenting thermal sensations with low residual heat, especially cold sensations. To mitigate the impact of residual heat in the presentation system, we opted for a non-contact method, and to address the influence of residual heat on the skin, we present thermal sensations without significantly altering skin temperature. Specifically, we integrated two highly responsive and independent heat transfer mechanisms: convection via cold air and radiation via visible light, providing non-contact thermal stimuli. By rapidly alternating between perceptible decreases and imperceptible increases in temperature on the same skin area, we maintained near-constant skin temperature while presenting continuous cold sensations. In our experiments involving 15 participants, we observed that when the cooling rate was \u0000<inline-formula><tex-math>$-$</tex-math></inline-formula>\u00000.2 to \u0000<inline-formula><tex-math>$-$</tex-math></inline-formula>\u00000.24 \u0000<inline-formula><tex-math>$^circ$</tex-math></inline-formula>\u0000C/s and the cooling time ratio was 30 to 50%, more than 86.67% of the participants perceived only persistent cold without any warmth.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"770-784"},"PeriodicalIF":2.9,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41234952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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