This paper investigates the notion of "Persuasive Vibrations", which showed that augmenting a person's speech with vibrotactile feedback could artificially increase persuasion. However, while the initial paper has shown the effect, the underlying reasons why vibrations enhance persuasion remain unknown. Through two different user studies, this paper aims to study how the underlying parameters of the vibratory feedback (e.g., frequency, amplitude, or audio-vibration synchronization) influence persuasion. The first study aimed to identify the parameters of vibrotactile feedback that can positively influence persuasion. The second study evaluated vibrotactile feedback that might impair the persuasive effect. In a nutshell, the first experiment suggests that the isolation of different properties of the vibratory signal could tend to provide higher persuasion compared to no vibratory feedback. A lower frequency at 100 Hz seems the most efficient way to generate a persuasive effect. In contrast, the second experiment suggests that some alteration of the vibratory signal (e.g., latency) does not decrease the levels of persuasion compared to the no-vibration condition. All in all, the results suggest that using lower frequencies could have a better effect on persuasion. These results could serve as a basis for haptic design in applications like videoconferencing, virtual meetings, and training systems where supporting user speech is essential.
{"title":"\"Persuasive Vibrations\": Studying the Influence of Vibration Parameters on Speech Persuasion.","authors":"Sabrina Toofany, Anatole Lecuyer, Ferran Argelaguet, Justine Saint-Aubert","doi":"10.1109/TOH.2025.3600579","DOIUrl":"10.1109/TOH.2025.3600579","url":null,"abstract":"<p><p>This paper investigates the notion of \"Persuasive Vibrations\", which showed that augmenting a person's speech with vibrotactile feedback could artificially increase persuasion. However, while the initial paper has shown the effect, the underlying reasons why vibrations enhance persuasion remain unknown. Through two different user studies, this paper aims to study how the underlying parameters of the vibratory feedback (e.g., frequency, amplitude, or audio-vibration synchronization) influence persuasion. The first study aimed to identify the parameters of vibrotactile feedback that can positively influence persuasion. The second study evaluated vibrotactile feedback that might impair the persuasive effect. In a nutshell, the first experiment suggests that the isolation of different properties of the vibratory signal could tend to provide higher persuasion compared to no vibratory feedback. A lower frequency at 100 Hz seems the most efficient way to generate a persuasive effect. In contrast, the second experiment suggests that some alteration of the vibratory signal (e.g., latency) does not decrease the levels of persuasion compared to the no-vibration condition. All in all, the results suggest that using lower frequencies could have a better effect on persuasion. These results could serve as a basis for haptic design in applications like videoconferencing, virtual meetings, and training systems where supporting user speech is essential.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":"850-861"},"PeriodicalIF":2.8,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144882726","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 : 2025-10-01DOI: 10.1109/TOH.2025.3632157
Jonathan Lacombe, Clement Gosselin
This paper proposes the use of reaction wheels in parallel mechanisms for physical human-robot interaction during the co-manipulation of large payloads. The concept combines the advantages of a mechanically backdrivable robot - for hands-on-payload interaction - with the reactiveness of flywheels for the compensation of inertial loads, thereby leading to a smooth and low-inertia rendering. In the proposed approach, gravity compensation and dynamic compensation are partitioned and assigned to two subsets of actuators, namely the backdrivable joint actuators and the flywheel actuators, the latter being smaller and properly geared actuators to benefit from faster dynamics for interaction stability purposes. Simulation results of a human interaction with a planar robot to displace a payload show that the desired dynamic behaviour of the moving platform is correctly rendered, while indicating that the inertia compensation torques may vary more quickly than the gravity torques, which supports the proposed idea. Experiments are also conducted to validate the rendering of the desired virtual dynamics to the user.
{"title":"Inertia Compensation Using Flywheels in Parallel Robots for the Assisted Manipulation of Large Payloads.","authors":"Jonathan Lacombe, Clement Gosselin","doi":"10.1109/TOH.2025.3632157","DOIUrl":"10.1109/TOH.2025.3632157","url":null,"abstract":"<p><p>This paper proposes the use of reaction wheels in parallel mechanisms for physical human-robot interaction during the co-manipulation of large payloads. The concept combines the advantages of a mechanically backdrivable robot - for hands-on-payload interaction - with the reactiveness of flywheels for the compensation of inertial loads, thereby leading to a smooth and low-inertia rendering. In the proposed approach, gravity compensation and dynamic compensation are partitioned and assigned to two subsets of actuators, namely the backdrivable joint actuators and the flywheel actuators, the latter being smaller and properly geared actuators to benefit from faster dynamics for interaction stability purposes. Simulation results of a human interaction with a planar robot to displace a payload show that the desired dynamic behaviour of the moving platform is correctly rendered, while indicating that the inertia compensation torques may vary more quickly than the gravity torques, which supports the proposed idea. Experiments are also conducted to validate the rendering of the desired virtual dynamics to the user.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":"1045-1056"},"PeriodicalIF":2.8,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145503652","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 : 2025-09-29DOI: 10.1109/TOH.2025.3615661
Chongyang Sun;Xuezhi Yan;Weizhi Nai;Xiaoying Sun;Qinglong Wang
Vibration feedback is a widely used form of haptic feedback in stylus-mediated interaction with screens of mobile devices. To accurately and efficiently present haptic effects, it is important to investigate key design factors that influence vibrotactile perception. In this paper, we perform experiments using two actuators (linear resonant actuator and voice-coil actuator) to investigate the effect of pressing force on perceived intensity with various combinations of factors such as actuator orientation, frequency of the driving signals, baseline perceived intensity, and user's motion speed in the vibrotactile feedback of stylus-mediated interaction. The results show that in stationary condition when the actuator is placed with its long side perpendicular to the axis of the stylus, the larger the pressing force is, the weaker the perceived intensity is; when the actuator is placed with its long side parallel to the axis of the stylus, the perceived intensity increases slightly with increasing pressing force. Another experiment is conducted and shows that the perceived intensity is more uniform when the amplitude is dynamically changed with the variation of the pressing force. For the moving conditions, the changes in pressing force have almost no effect on the perceived intensity. The results provide knowledge about the perceived intensity of vibrations in the stylus-mediated vibrotactile rendering.
{"title":"Effect of Pressing Force on Perceived Vibrotactile Intensity in Stylus-Mediated Interaction","authors":"Chongyang Sun;Xuezhi Yan;Weizhi Nai;Xiaoying Sun;Qinglong Wang","doi":"10.1109/TOH.2025.3615661","DOIUrl":"10.1109/TOH.2025.3615661","url":null,"abstract":"Vibration feedback is a widely used form of haptic feedback in stylus-mediated interaction with screens of mobile devices. To accurately and efficiently present haptic effects, it is important to investigate key design factors that influence vibrotactile perception. In this paper, we perform experiments using two actuators (linear resonant actuator and voice-coil actuator) to investigate the effect of pressing force on perceived intensity with various combinations of factors such as actuator orientation, frequency of the driving signals, baseline perceived intensity, and user's motion speed in the vibrotactile feedback of stylus-mediated interaction. The results show that in stationary condition when the actuator is placed with its long side perpendicular to the axis of the stylus, the larger the pressing force is, the weaker the perceived intensity is; when the actuator is placed with its long side parallel to the axis of the stylus, the perceived intensity increases slightly with increasing pressing force. Another experiment is conducted and shows that the perceived intensity is more uniform when the amplitude is dynamically changed with the variation of the pressing force. For the moving conditions, the changes in pressing force have almost no effect on the perceived intensity. The results provide knowledge about the perceived intensity of vibrations in the stylus-mediated vibrotactile rendering.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 4","pages":"923-935"},"PeriodicalIF":2.8,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145191709","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 : 2025-09-19DOI: 10.1109/TOH.2025.3585659
Emma Treadway;Kristian Journet;Andrew Deering;Cora Lewis;Noelle Poquiz
In [1], Fig. 5 shows that the code was inadvertently plotted IT on the graphs labeled Percent Correct and vice-versa (with IT multiplied by 100 rather than the fraction of correct responses) for subplots (b)–(d). None of the statistics or other analyses were affected. It was simply a transcription error in generating the plots for this specific figure, with incorrect data assigned to each plot window in MATLAB. In the figure, you will note that effectively the top and bottom data in each subplot are swapped as shown.
{"title":"Correction to “Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification”","authors":"Emma Treadway;Kristian Journet;Andrew Deering;Cora Lewis;Noelle Poquiz","doi":"10.1109/TOH.2025.3585659","DOIUrl":"https://doi.org/10.1109/TOH.2025.3585659","url":null,"abstract":"In [1], Fig. 5 shows that the code was inadvertently plotted IT on the graphs labeled Percent Correct and vice-versa (with IT multiplied by 100 rather than the fraction of correct responses) for subplots (b)–(d). None of the statistics or other analyses were affected. It was simply a transcription error in generating the plots for this specific figure, with incorrect data assigned to each plot window in MATLAB. In the figure, you will note that effectively the top and bottom data in each subplot are swapped as shown.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"815-815"},"PeriodicalIF":2.8,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11174045","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090156","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 : 2025-09-19DOI: 10.1109/TOH.2025.3605032
J. Edward Colgate;Lynette A. Jones;Hong Z. Tan
{"title":"Twenty Years of World Haptics: Retrospective and Future Directions","authors":"J. Edward Colgate;Lynette A. Jones;Hong Z. Tan","doi":"10.1109/TOH.2025.3605032","DOIUrl":"https://doi.org/10.1109/TOH.2025.3605032","url":null,"abstract":"","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"452-455"},"PeriodicalIF":2.8,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11174044","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100485","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 : 2025-09-15DOI: 10.1109/TOH.2025.3609959
Jake D. Little;Jennifer L. Tennison;Jenna L. Gorlewicz
Haptic wearables provide an intuitive human-machine interface to convey information through the sense of touch, which may have promising applications in guided breathing. In this paper, we detail the design and evaluation of three wearable prototypes (Vibration, Skin Drag, and Tapping) capable of administering discrete (individual, separate pulses and stimuli). and continuous (overlapping or uninterrupted stimuli) forms of linear haptic cycles with inspiration from slow, deep guided breathing. Characterization was performed to quantify and validate the performance of six haptic stimuli (discrete/continuous vibration, skin drag, and tapping). Devices were quantified with key metrics that described the applied stimuli and the dynamics of the wearable. A human subjects study (N = 25), composed of two-cycle tracking tasks, was conducted to determine device performance and user aptitude. Results indicated consistent directional recognition across all six stimuli, but discrete stimuli performed better in spatial localization tasks. Although outperformed in tracking/localization tasks, continuous stimuli, especially skin drag, were described as the most apt and intuitive pairing to guided breathing. Findings highlight the potential of these linear haptic stimuli in a number of applications, including guided breathing, navigation, virtual immersion, and communication.
{"title":"Drawing the Line: Wearable Linear Haptics Motivated by Guided Breathing","authors":"Jake D. Little;Jennifer L. Tennison;Jenna L. Gorlewicz","doi":"10.1109/TOH.2025.3609959","DOIUrl":"10.1109/TOH.2025.3609959","url":null,"abstract":"Haptic wearables provide an intuitive human-machine interface to convey information through the sense of touch, which may have promising applications in guided breathing. In this paper, we detail the design and evaluation of three wearable prototypes (Vibration, Skin Drag, and Tapping) capable of administering discrete (individual, separate pulses and stimuli). and continuous (overlapping or uninterrupted stimuli) forms of linear haptic cycles with inspiration from slow, deep guided breathing. Characterization was performed to quantify and validate the performance of six haptic stimuli (discrete/continuous vibration, skin drag, and tapping). Devices were quantified with key metrics that described the applied stimuli and the dynamics of the wearable. A human subjects study (N = 25), composed of two-cycle tracking tasks, was conducted to determine device performance and user aptitude. Results indicated consistent directional recognition across all six stimuli, but discrete stimuli performed better in spatial localization tasks. Although outperformed in tracking/localization tasks, continuous stimuli, especially skin drag, were described as the most apt and intuitive pairing to guided breathing. Findings highlight the potential of these linear haptic stimuli in a number of applications, including guided breathing, navigation, virtual immersion, and communication.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 4","pages":"888-900"},"PeriodicalIF":2.8,"publicationDate":"2025-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145069429","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 : 2025-08-29DOI: 10.1109/TOH.2025.3604476
Debadutta Subudhi;K. K. Deepak;Manivannan Muniyandi
Palpation of arteries holds significant physiological importance. Existing pulse actuator designs intended to replicate the haptic sensations of palpation primarily focus on normal force interactions, often overlooking the shear forces generated by oscillations of the arterial wall during blood flow. This study aims to evaluate the normal, longitudinal, and transverse forces exerted by arteries through both theoretical and experimental analyses during palpation. The experimental validation features a pulse actuator-sensor system. The actuator component is a hydroelectromagnetic actuator, while the haptic sensing is performed by the Subblescope. The Subblescope measures arterial force feedback from both soft and hard artery models, as well as from the radial pulse in 18 human subjects. Mathematical analysis establishes the operational range of the sensor-actuator system as 0.005 N to 2.5 N. The force feedback from the simulation has been used for designing the total force generation by the actuator. The reactive force along the Z-axis varies between 19.3 mN to 500 mN, while the transverse and longitudinal forces along the Y and X axes range from 6.9 mN to 88.01 mN and 5.46 mN to 87.85 mN, respectively. The pulse-force map of the hard artery reveals higher three-dimensional force interactions compared to the soft artery. The hydroelectromagnetic actuator effectively generates both normal and shear forces during pulsatile flow. Future work will focus on developing training modules that replicate pulse haptics associated with various physiological conditions such as diabetes.
{"title":"Haptics of Pulse Palpation: Simulation and Validation Through Novel Sensor-Actuator System","authors":"Debadutta Subudhi;K. K. Deepak;Manivannan Muniyandi","doi":"10.1109/TOH.2025.3604476","DOIUrl":"10.1109/TOH.2025.3604476","url":null,"abstract":"Palpation of arteries holds significant physiological importance. Existing pulse actuator designs intended to replicate the haptic sensations of palpation primarily focus on normal force interactions, often overlooking the shear forces generated by oscillations of the arterial wall during blood flow. This study aims to evaluate the normal, longitudinal, and transverse forces exerted by arteries through both theoretical and experimental analyses during palpation. The experimental validation features a pulse actuator-sensor system. The actuator component is a hydroelectromagnetic actuator, while the haptic sensing is performed by the Subblescope. The Subblescope measures arterial force feedback from both soft and hard artery models, as well as from the radial pulse in 18 human subjects. Mathematical analysis establishes the operational range of the sensor-actuator system as 0.005 N to 2.5 N. The force feedback from the simulation has been used for designing the total force generation by the actuator. The reactive force along the Z-axis varies between 19.3 mN to 500 mN, while the transverse and longitudinal forces along the Y and X axes range from 6.9 mN to 88.01 mN and 5.46 mN to 87.85 mN, respectively. The pulse-force map of the hard artery reveals higher three-dimensional force interactions compared to the soft artery. The hydroelectromagnetic actuator effectively generates both normal and shear forces during pulsatile flow. Future work will focus on developing training modules that replicate pulse haptics associated with various physiological conditions such as diabetes.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 4","pages":"876-887"},"PeriodicalIF":2.8,"publicationDate":"2025-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144952146","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 : 2025-08-14DOI: 10.1109/TOH.2025.3598859
Michael Fennel;Markus Walker;Dominik Pikos;Uwe D. Hanebeck
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited workspaces, insufficient degrees of freedom, and kinematics not matching the human arm. In this paper, we present HapticGiant, a novel large-scale kinesthetic haptic interface designed to match the properties of the human arm as closely as possible and to facilitate natural user locomotion while providing full haptic feedback. The interface incorporates a novel admittance-type force control scheme, leveraging hierarchical optimization to render both arbitrary serial kinematic chains and Cartesian admittances. Notably, the proposed control scheme natively accounts for system limitations, including joint and Cartesian constraints, as well as singularities. Experimental results demonstrate the effectiveness of HapticGiant and its control scheme, paving the way for highly immersive virtual reality applications.
{"title":"HapticGiant: A Novel Very Large Kinesthetic Haptic Interface With Hierarchical Force Control","authors":"Michael Fennel;Markus Walker;Dominik Pikos;Uwe D. Hanebeck","doi":"10.1109/TOH.2025.3598859","DOIUrl":"10.1109/TOH.2025.3598859","url":null,"abstract":"Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic haptic interfaces still face challenges such as limited workspaces, insufficient degrees of freedom, and kinematics not matching the human arm. In this paper, we present HapticGiant, a novel large-scale kinesthetic haptic interface designed to match the properties of the human arm as closely as possible and to facilitate natural user locomotion while providing full haptic feedback. The interface incorporates a novel admittance-type force control scheme, leveraging hierarchical optimization to render both arbitrary serial kinematic chains and Cartesian admittances. Notably, the proposed control scheme natively accounts for system limitations, including joint and Cartesian constraints, as well as singularities. Experimental results demonstrate the effectiveness of HapticGiant and its control scheme, paving the way for highly immersive virtual reality applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 4","pages":"862-875"},"PeriodicalIF":2.8,"publicationDate":"2025-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144855099","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 haptic communication of languages by engaging wearable displays has recently attracted much attention because of the continuous technological improvements (e.g., miniaturized hardware, and software). Currently, one of the primary research goals towards the haptic communication of language is to develop training protocols that reduce the time of learning by making the learning experience less cumbersome. This study provides a novel training protocol by separating learning into two sections, that is, offline, and online training. During offline training, the technique is based on visual learning, i.e., the spatial-temporal information of the haptic patterns is obtained by sight without stimulating the skin. During online training, the technique is based on kinesthetic learning, i.e., the knowledge of the patterns is obtained by hands-on experience. The learning of English letters is used to illustrate the proposed technique. The results show that the proposed two-section protocol lowers the time of online learning in the state-of-the-art methods.
{"title":"Towards Tactile Communication of English Language: A Visual Handbook Enhances Letter Learning","authors":"Tawanda Denzel Nyasulu;Shengzhi Du;Nico Steyn;Qingxue Liu;Syeda Nadiah Fatima Nahri;Hui Yu","doi":"10.1109/TOH.2025.3596843","DOIUrl":"10.1109/TOH.2025.3596843","url":null,"abstract":"The haptic communication of languages by engaging wearable displays has recently attracted much attention because of the continuous technological improvements (e.g., miniaturized hardware, and software). Currently, one of the primary research goals towards the haptic communication of language is to develop training protocols that reduce the time of learning by making the learning experience less cumbersome. This study provides a novel training protocol by separating learning into two sections, that is, offline, and online training. During offline training, the technique is based on visual learning, i.e., the spatial-temporal information of the haptic patterns is obtained by sight without stimulating the skin. During online training, the technique is based on kinesthetic learning, i.e., the knowledge of the patterns is obtained by hands-on experience. The learning of English letters is used to illustrate the proposed technique. The results show that the proposed two-section protocol lowers the time of online learning in the state-of-the-art methods.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"809-814"},"PeriodicalIF":2.8,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144834983","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 : 2025-08-08DOI: 10.1109/TOH.2025.3597265
Maijie Xiang;Jonathan J. Bernstein;David B. Miller;Robert D. White
Current Braille readers are costly, limited to one or two rows of text, and there are no affordable tactile displays for images. To address this, we have developed a low-cost, electronically refreshable vibrotactile display prototype inspired by capacitive micromachined ultrasound transducers (CMUT). The design utilizes a printed circuit board (PCB) as the substrate and bottom electrode array, combined with a metalized Kapton film as the vibrating membrane and punched foam tape as a spacer. The current prototype demonstrates a 2x3 array of tactels (a tactile pixel) with 3.0 mm spacing. The system was modeled using finite element analysis (FEA) and characterized using laser vibrometry. Vibration amplitudes of 1.0 μm to 7.0 μm peak-to-peak were achieved using a peak-to-peak drive voltage of 600V at 200 to 300 Hz. Distinct patterns in the shape of Braille characters have been generated. A human subject study was conducted with 10 unskilled participants each conducting 20 trials on a discrimination task. Eight of the ten participants achieved an accuracy greater than 70% indicating that the patterns can be discriminated (N = 200, p = 0.0027). The prototype demonstrates the feasibility of this approach and is scalable to large area displays at low cost.
{"title":"PCB-Based Miniature Vibro-Tactile Display for the Visually Impaired","authors":"Maijie Xiang;Jonathan J. Bernstein;David B. Miller;Robert D. White","doi":"10.1109/TOH.2025.3597265","DOIUrl":"10.1109/TOH.2025.3597265","url":null,"abstract":"Current Braille readers are costly, limited to one or two rows of text, and there are no affordable tactile displays for images. To address this, we have developed a low-cost, electronically refreshable vibrotactile display prototype inspired by capacitive micromachined ultrasound transducers (CMUT). The design utilizes a printed circuit board (PCB) as the substrate and bottom electrode array, combined with a metalized Kapton film as the vibrating membrane and punched foam tape as a spacer. The current prototype demonstrates a 2x3 array of tactels (a tactile pixel) with 3.0 mm spacing. The system was modeled using finite element analysis (FEA) and characterized using laser vibrometry. Vibration amplitudes of 1.0 μm to 7.0 μm peak-to-peak were achieved using a peak-to-peak drive voltage of 600V at 200 to 300 Hz. Distinct patterns in the shape of Braille characters have been generated. A human subject study was conducted with 10 unskilled participants each conducting 20 trials on a discrimination task. Eight of the ten participants achieved an accuracy greater than 70% indicating that the patterns can be discriminated (N = 200, p = 0.0027). The prototype demonstrates the feasibility of this approach and is scalable to large area displays at low cost.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"742-750"},"PeriodicalIF":2.8,"publicationDate":"2025-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144803994","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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