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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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":null,"pages":null},"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}
Ultrasonic mid-air haptic technology allows for the perceptual rendering of textured surfaces onto the user's hand. Unlike real textured surfaces, however, mid-air haptic feedback lacks implicit multisensory cues needed to reliably infer a texture's attributes (e.g., its roughness). In this article, we combined mid-air haptic textures with congruent sound feedback to investigate how sonification could influence people's 1) explicit judgment of the texture attributes, 2) explicit sensations of their own hand, and 3) implicit motor behavior during haptic exploration. Our results showed that audio cues (presented solely or combined with haptics) influenced participants' judgment of the texture attributes (roughness, hardness, moisture and viscosity), produced some hand sensations (the feeling of having a hand smoother, softer, looser, more flexible, colder, wetter and more natural), and changed participants' speed (moving faster or slower) while exploring the texture. We then conducted a principal component analysis to better understand and visualize the found results and conclude with a short discussion on how audio-haptic associations can be used to create embodied experiences in emerging application scenarios in the metaverse.
{"title":"It Sounds Cool: Exploring Sonification of Mid-Air Haptic Textures Exploration on Texture Judgments, Body Perception, and Motor Behaviour","authors":"Roberto Montano-Murillo;Dario Pittera;William Frier;Orestis Georgiou;Marianna Obrist;Patricia Cornelio","doi":"10.1109/TOH.2023.3320492","DOIUrl":"10.1109/TOH.2023.3320492","url":null,"abstract":"Ultrasonic mid-air haptic technology allows for the perceptual rendering of textured surfaces onto the user's hand. Unlike real textured surfaces, however, mid-air haptic feedback lacks implicit multisensory cues needed to reliably infer a texture's attributes (e.g., its roughness). In this article, we combined mid-air haptic textures with congruent sound feedback to investigate how sonification could influence people's 1) explicit judgment of the texture attributes, 2) explicit sensations of their own hand, and 3) implicit motor behavior during haptic exploration. Our results showed that audio cues (presented solely or combined with haptics) influenced participants' judgment of the texture attributes (roughness, hardness, moisture and viscosity), produced some hand sensations (the feeling of having a hand smoother, softer, looser, more flexible, colder, wetter and more natural), and changed participants' speed (moving faster or slower) while exploring the texture. We then conducted a principal component analysis to better understand and visualize the found results and conclude with a short discussion on how audio-haptic associations can be used to create embodied experiences in emerging application scenarios in the metaverse.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10285051","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41199481","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}
Pub Date : 2023-10-06DOI: 10.1109/TOH.2023.3321925
Martin A. Garenfeld;Mauricio Carlos Henrich;Milica Isaković;Jovana Malešević;Matija Štrbac;Strahinja Došen
Electrotactile stimulation can be an attractive technology to restore tactile feedback in different application scenarios (e.g., virtual and augmented reality, tele-manipulation). This technology allows designing compact solutions with no mechanical elements that can integrate a high-density matrix of stimulation points. The present study introduced four novel multi-pad finger-electrode designs with different arrangements (two matrix and two circular) and shapes of active pads (producing sensation) and reference pads (ideally, no sensation produced below the pad). The electrodes were used to investigate the subjects’ ability to spatially discriminate active pads within phalanges individually (6–9 pads) as well as across the full finger (18–19 pads). The tests were conducted in 12 subjects and the results showed that all designs led to high success rates when applied to the fingertip (70–81%). When tested on the full finger, the matrix and circular designs were characterized with similar performance (54–57%), and when the phalanges were analyzed individually, the spatial discrimination was best at the fingertip. Additionally, new approaches for faster amplitude calibration were proposed and tested, demonstrating that calibration duration can be reduced by approximately 40% compared to the standard approach of calibrating single pads individually. Finally, discrimination tests of dynamic tactile patterns were conducted using circular and matrix designs on the fingertip and full finger, respectively. The tests showed that the different patterns generated by the two arrangements could be clearly discriminated, especially in the case of full-finger matrix-style patterns. The present study, therefore, provides several important insights that are relevant when delivering tactile feedback to the finger using an electrotactile interface.
{"title":"Novel Electrode Designs for Electrotactile Stimulation of the Finger: A Comparative Assessment","authors":"Martin A. Garenfeld;Mauricio Carlos Henrich;Milica Isaković;Jovana Malešević;Matija Štrbac;Strahinja Došen","doi":"10.1109/TOH.2023.3321925","DOIUrl":"10.1109/TOH.2023.3321925","url":null,"abstract":"Electrotactile stimulation can be an attractive technology to restore tactile feedback in different application scenarios (e.g., virtual and augmented reality, tele-manipulation). This technology allows designing compact solutions with no mechanical elements that can integrate a high-density matrix of stimulation points. The present study introduced four novel multi-pad finger-electrode designs with different arrangements (two matrix and two circular) and shapes of active pads (producing sensation) and reference pads (ideally, no sensation produced below the pad). The electrodes were used to investigate the subjects’ ability to spatially discriminate active pads within phalanges individually (6–9 pads) as well as across the full finger (18–19 pads). The tests were conducted in 12 subjects and the results showed that all designs led to high success rates when applied to the fingertip (70–81%). When tested on the full finger, the matrix and circular designs were characterized with similar performance (54–57%), and when the phalanges were analyzed individually, the spatial discrimination was best at the fingertip. Additionally, new approaches for faster amplitude calibration were proposed and tested, demonstrating that calibration duration can be reduced by approximately 40% compared to the standard approach of calibrating single pads individually. Finally, discrimination tests of dynamic tactile patterns were conducted using circular and matrix designs on the fingertip and full finger, respectively. The tests showed that the different patterns generated by the two arrangements could be clearly discriminated, especially in the case of full-finger matrix-style patterns. The present study, therefore, provides several important insights that are relevant when delivering tactile feedback to the finger using an electrotactile interface.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41155447","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}
Several studies in the affective haptics research field showed the potential of using haptic technology to convey emotions in remote communications. In this context, it is of interest to simplify the haptic feedback without altering the informative content of the stimulus, with a two-fold advantage. On one side, it would allow the development of affective haptic devices whose technological complexity is limited, hence more compatible with wearability and portability requirements. On the other side, having a simplified set of stimuli would decrease the amount of data to be transmitted, thus improving the overall quality of remote haptic interactions. In this work, we investigated the correlation between the parameters regulating a caress-like stimulation and the perceived pleasantness. This was done by means of two experiments, in which we asked subjects to adjust the temperature and the motion velocity of a set of stimuli in order to find the most pleasant combination. Results indicated that subjects preferred different values of temperature and velocity of the stimulus depending on the proposed tactile stimulation. A small difference in the pleasantness ratings was observed between caresses provided with linear movements and those given as discrete sequences of taps. In particular, participants preferred linear movements set at $34.5 ,^{circ }mathrm{C}$ and $3.4 ,mathrm{c}mathrm{m}mathrm{s}^{-1}$ . As regards caress-like stimuli provided with discrete sequences of taps, the preferred temperature and velocity were $33.2 ,mathrm{^{circ }C}$ and $2.9 ,mathrm{c}mathrm{m}mathrm{s}^{-1}$ , respectively. The presence of vibration had a little effect on the perceived pleasantness.
{"title":"On the Correlation Between Tactile Stimulation and Pleasantness","authors":"Nicole D'Aurizio;Teresa Ramundo;Tommaso Lisini Baldi;Alessandro Moscatelli;Domenico Prattichizzo","doi":"10.1109/TOH.2023.3322557","DOIUrl":"10.1109/TOH.2023.3322557","url":null,"abstract":"Several studies in the affective haptics research field showed the potential of using haptic technology to convey emotions in remote communications. In this context, it is of interest to simplify the haptic feedback without altering the informative content of the stimulus, with a two-fold advantage. On one side, it would allow the development of affective haptic devices whose technological complexity is limited, hence more compatible with wearability and portability requirements. On the other side, having a simplified set of stimuli would decrease the amount of data to be transmitted, thus improving the overall quality of remote haptic interactions. In this work, we investigated the correlation between the parameters regulating a caress-like stimulation and the perceived pleasantness. This was done by means of two experiments, in which we asked subjects to adjust the temperature and the motion velocity of a set of stimuli in order to find the most pleasant combination. Results indicated that subjects preferred different values of temperature and velocity of the stimulus depending on the proposed tactile stimulation. A small difference in the pleasantness ratings was observed between caresses provided with linear movements and those given as discrete sequences of taps. In particular, participants preferred linear movements set at \u0000<inline-formula><tex-math>$34.5 ,^{circ }mathrm{C}$</tex-math></inline-formula>\u0000 and \u0000<inline-formula><tex-math>$3.4 ,mathrm{c}mathrm{m}mathrm{s}^{-1}$</tex-math></inline-formula>\u0000. As regards caress-like stimuli provided with discrete sequences of taps, the preferred temperature and velocity were \u0000<inline-formula><tex-math>$33.2 ,mathrm{^{circ }C}$</tex-math></inline-formula>\u0000 and \u0000<inline-formula><tex-math>$2.9 ,mathrm{c}mathrm{m}mathrm{s}^{-1}$</tex-math></inline-formula>\u0000, respectively. The presence of vibration had a little effect on the perceived pleasantness.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10273637","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41099426","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}
Pub Date : 2023-10-06DOI: 10.1109/TOH.2023.3322559
Federica Barontini;Alina Obermeier;Manuel Giuseppe Catalano;Simone Fani;Giorgio Grioli;Matteo Bianchi;Antonio Bicchi;Eike Jakubowitz
Despite technological advancements, upper limb prostheses still face high abandonment/rejection rates due to limitations in control interfaces and the absence of force/tactile feedback. Improving these aspects is crucial for enhancing user acceptance and optimizing functional performance. This pilot study, therefore, aims to understand which sensory feedback in combination with a soft robotic prosthetic hand could provide advantages for amputees, including performing everyday tasks. Tactile cues provided are contact information, grasping force, degree of hand opening, and combinations of this information. To transfer such feedback, different wearable systems are used, based on either vibrotactile or force stimulation in a non-invasive modality matching approach. Five volunteers with a trans-radial amputation controlling the new prosthetic hand SoftHand Pro performed a study protocol including everyday tasks. The results indicate the preference of amputees for a single, i.e. non-combined, feedback modality. The choice of appropriate haptic feedback seems to be subject and task-specific. Furthermore, in alignment with the participants' feedback, force feedback, with adequate granularity and clarity, could potentially be the most valuable feedback among those presented. Finally, the study suggests that prosthetic solutions should be preferred where amputees are able to choose their feedback system.
{"title":"Tactile Feedback in Upper Limb Prosthetics: A Pilot Study on Trans-Radial Amputees Comparing Different Haptic Modalities","authors":"Federica Barontini;Alina Obermeier;Manuel Giuseppe Catalano;Simone Fani;Giorgio Grioli;Matteo Bianchi;Antonio Bicchi;Eike Jakubowitz","doi":"10.1109/TOH.2023.3322559","DOIUrl":"10.1109/TOH.2023.3322559","url":null,"abstract":"Despite technological advancements, upper limb prostheses still face high abandonment/rejection rates due to limitations in control interfaces and the absence of force/tactile feedback. Improving these aspects is crucial for enhancing user acceptance and optimizing functional performance. This pilot study, therefore, aims to understand which sensory feedback in combination with a soft robotic prosthetic hand could provide advantages for amputees, including performing everyday tasks. Tactile cues provided are contact information, grasping force, degree of hand opening, and combinations of this information. To transfer such feedback, different wearable systems are used, based on either vibrotactile or force stimulation in a non-invasive modality matching approach. Five volunteers with a trans-radial amputation controlling the new prosthetic hand SoftHand Pro performed a study protocol including everyday tasks. The results indicate the preference of amputees for a single, i.e. non-combined, feedback modality. The choice of appropriate haptic feedback seems to be subject and task-specific. Furthermore, in alignment with the participants' feedback, force feedback, with adequate granularity and clarity, could potentially be the most valuable feedback among those presented. Finally, the study suggests that prosthetic solutions should be preferred where amputees are able to choose their feedback system.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2023-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10273734","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41131964","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}
Pub Date : 2023-10-05DOI: 10.1109/TOH.2023.3322189
Cagatay Basdogan;Berke Ataseven;Mandayam A. Srinivasan
In virtual/augmented/mixed reality (VR/AR/MR) applications, rendering soft virtual objects using a hand-held haptic device is challenging due to the anatomical restrictions of the hand and the ungrounded nature of the design, which affect the selection of actuators and sensors and hence limit the resolution and range of forces displayed by the device. We developed a cable-driven haptic device for rendering the net forces involved in grasping and squeezing 3D virtual compliant (soft) objects being held between the index finger and thumb only. Using the proposed device, we investigate the perception of soft objects in virtual environments. We show that the range of object stiffness that can be effectively conveyed to a user in virtual environments (VEs) can be significantly expanded by controlling the relationship between the visual and haptic cues. We propose that a single variable, named Apparent Stiffness Difference , can predict the pattern of human stiffness perception under manipulated conflict, which can be used for rendering a range of soft objects in VEs larger than what is achievable by a haptic device alone due to its physical limits.
{"title":"Perception of Soft Objects in Virtual Environments Under Conflicting Visual and Haptic Cues","authors":"Cagatay Basdogan;Berke Ataseven;Mandayam A. Srinivasan","doi":"10.1109/TOH.2023.3322189","DOIUrl":"10.1109/TOH.2023.3322189","url":null,"abstract":"In virtual/augmented/mixed reality (VR/AR/MR) applications, rendering soft virtual objects using a hand-held haptic device is challenging due to the anatomical restrictions of the hand and the ungrounded nature of the design, which affect the selection of actuators and sensors and hence limit the resolution and range of forces displayed by the device. We developed a cable-driven haptic device for rendering the net forces involved in grasping and squeezing 3D virtual compliant (soft) objects being held between the index finger and thumb only. Using the proposed device, we investigate the perception of soft objects in virtual environments. We show that the range of object stiffness that can be effectively conveyed to a user in virtual environments (VEs) can be significantly expanded by controlling the relationship between the visual and haptic cues. We propose that a single variable, named \u0000<italic>Apparent Stiffness Difference</i>\u0000, can predict the pattern of human stiffness perception under manipulated conflict, which can be used for rendering a range of soft objects in VEs larger than what is achievable by a haptic device alone due to its physical limits.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41119262","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：