IEEE Transactions on Haptics最新文献

英文中文

Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm 设计和评估用于前臂方向剪切力提示的 3-DoF 触觉设备

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-13 DOI: 10.1109/TOH.2024.3365669

Kyle T. Yoshida;Zane A. Zook;Hojung Choi;Ming Luo;Marcia K. O'Malley;Allison M. Okamura

Wearable haptic devices on the forearm can relay information from virtual agents, robots, and other humans while leaving the hands free. We introduce and test a new wearable haptic device that uses soft actuators to provide normal and shear force to the skin of the forearm. A rigid housing and gear motor are used to control the direction of the shear force. A 6-axis force/torque sensor, distance sensor, and pressure sensors are integrated to quantify how the soft tactor interacts with the skin. When worn by participants, the device delivered consistent shear forces of up to 0.64 N and normal forces of up to 0.56 N over distances as large as 14.3 mm. To understand cue saliency, we conducted a user study asking participants to identify linear shear directional cues in a 4-direction task and an 8-direction task with different cue speeds, travel distances, and contact patterns. Participants identified cues with longer travel distances best, with an 85.1% accuracy in the 4-direction task, and a 43.5% accuracy in the 8-direction task. Participants had a directional bias, with a preferential response in the axis towards and away from the wrist bone.

前臂上的可穿戴触觉装置可以传递来自虚拟代理、机器人和其他人的信息，同时解放双手。我们介绍并测试了一种新型可穿戴触觉装置，它使用软致动器为前臂皮肤提供法向力和剪切力。刚性外壳和齿轮电机用于控制剪切力的方向。该装置集成了六轴力/扭矩传感器、距离传感器和压力传感器，用于量化软触动器与皮肤的相互作用。参与者佩戴该装置时，可在 14.3 毫米的距离内产生一致的剪切力（最大 0.64 牛顿）和法向力（最大 0.56 牛顿）。为了了解线索的显著性，我们进行了一项用户研究，要求参与者在 4 个方向任务和 8 个方向任务中识别线性剪切方向线索，线索的速度、移动距离和接触模式各不相同。在 4 个方向的任务中，参与者识别移动距离较长线索的准确率为 85.1%，而在 8 个方向的任务中，准确率为 43.5%。参与者有方向偏差，对腕骨方向和远离腕骨方向的轴有优先反应。

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引用次数: 0

A Hydraulic Haptic Actuator for Simulation of Cardiac Catheters 用于模拟心脏导管的液压触觉执行器

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-12 DOI: 10.1109/TOH.2024.3364689

Chengjie Li;Doo Yong Lee

This article presents a haptic actuator made of silicone rubber to provide both passive and active haptic forces for catheter simulations. The haptic actuator has a torus outer shape with an ellipse-shaped inside chamber which is actuated by hydraulic pressure. Expansion of the chamber by providing positive pressure can squeeze the inside passage to resist the catheter traveling through. Further expansion can hold and push back the catheter in the axial direction to render active haptic forces. The size of the catheter passage is increased by providing negative pressure to the chamber, allowing various diameters of the actual medical catheters to be used and exchanged during the simulation. The diameter of the catheter passage can be enlarged up to 1.6 times to allow 5 to 7 Fr (1 Fr = 1/3 mm) medical catheters to pass through. Experiment results show that the proposed haptic actuator can render 0 to 2.0 N passive feedback force, and a maximum of 2.0 N active feedback force, sufficient for the cardiac catheter simulation. The haptic actuator can render the commanded force profile with 0.10 N RMS (root-mean-squares) and 10.51% L2-norm relative errors.

本文介绍了一种由硅橡胶制成的触觉致动器，可为导管模拟提供被动和主动触觉力。触觉致动器的外部形状为环形，内腔为椭圆形，由液压驱动。通过提供正压使腔室膨胀，可以挤压内部通道，阻止导管通过。进一步的膨胀可在轴向保持和推回导管，从而产生积极的触觉力。通过向腔室提供负压，可以增大导管通道的尺寸，从而允许在模拟过程中使用和交换各种直径的实际医用导管。导管通道的直径最多可放大 1.6 倍，以允许 5 至 7 Fr（1 Fr = 1/3 毫米）的医用导管通过。实验结果表明，所提出的触觉致动器可提供 0 至 2.0 N 的被动反馈力和最大 2.0 N 的主动反馈力，足以进行心导管模拟。触觉致动器能以 0.10 N RMS（均方根）和 10.51% L2 规范相对误差呈现指令力曲线。

引用次数: 0

UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism UltLever：基于利用简单杠杆机制放大辐射力的超声波驱动被动触觉执行器

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-08 DOI: 10.1109/TOH.2024.3363764

Tao Morisaki;Takaaki Kamigaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda

A lightweight haptic display that does not interfere with the user's natural movement is required for an immersive haptic experience. This study proposes a lightweight, powerful, and responsive passive haptic actuator driven by airborne focused ultrasound. This 6.2 g completely plastic passive device amplifies an applied ultrasound radiation force by a factor of 35 using a simple lever mechanism, presenting an amplified force of 0.7 N to the user's finger pad. 2–30 Hz vibration can also be presented. Since the radiation force is presented at the speed of sound, the amplified force is presented at high speed even with the high amplification rate of a lever, achieving such strong force and vibration presentation. Physical measurements showed that the amplified force was 0.7 N for the 20.48 mN input radiation force, and the amplitude of the presented vibration was over 0.1 N at 2–30 Hz. A psychophysical experiment showed that the vibration and force were perceivable with a device output level of −7.7 dB. In the future, we will explore methodologies around device design to present desired tactile sensations.

要想获得身临其境的触觉体验，就需要一种不会干扰用户自然运动的轻型触觉显示器。本研究提出了一种由空气聚焦超声波驱动的轻便、功能强大且反应灵敏的无源触觉致动器。这个重 6.2 克的全塑料无源装置通过一个简单的杠杆机制，将施加的超声辐射力放大 35 倍，为用户的指垫提供 0.7 牛的放大力。还可产生 2-30 Hz 的振动。由于辐射力是以音速产生的，因此即使杠杆的放大率很高，放大的力也是以高速产生的，从而实现了如此强大的力和振动效果。物理测量结果表明，输入 20 mN 的辐射力时，放大力为 0.7 N，而在 2-30 Hz 频率下，呈现的振动振幅超过 0.1 N。心理物理实验表明，在设备输出电平为 -7.7 分贝时，振动和力是可感知的。未来，我们将探索围绕设备设计的方法，以呈现所需的触觉感受。

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引用次数: 0

Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task. 皮肤拉伸触觉反馈增强技术提高了模拟腹腔镜触诊任务中的表现。

IF 2.9 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-07 DOI: 10.1109/TOH.2024.3363422

Charlelie Saudrais, Bernard Bayle, Marie-Aude Vitrani, Fabien Verite

Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised. This paper evaluates the effectiveness of a forearm-based skin-stretch haptic feedback system rendering surgical tool tip force. Twenty novice participants had to discern the stiffness of samples to investigate stiffness perception in a simulated laparoscopic task. The experimental protocol involved manipulating samples with three difficulty levels and testing three feedback conditions: no augmentation, visual feedback, and tactile feedback. The results demonstrate that feedback significantly enhances the success rate of laparoscopic palpation tasks. The proposed tactile feedback boosts confidence and task speed and reduces peak force and perceived workload. These benefits become even more pronounced when difficulty increases. These promising findings affirm the value of skin-stretch haptic feedback augmentation in improving performance for simulated laparoscopy tasks, paving the way for more integrated and deployable devices for the operating room.

腹腔镜手术为患者带来了巨大的益处。然而，由于运动的限制和感知的局限性，腹腔镜手术对外科医生来说仍然具有挑战性。值得注意的是，与器官互动的感知在很大程度上受到了影响。本文评估了基于前臂的皮肤拉伸触觉反馈系统呈现手术工具尖端力的有效性。20 名新手参与者必须辨别样本的硬度，以研究模拟腹腔镜任务中的硬度感知。实验方案包括操作三个难度级别的样本和测试三种反馈条件：无增强、视觉反馈和触觉反馈。结果表明，反馈能显著提高腹腔镜触诊任务的成功率。建议的触觉反馈增强了信心和任务速度，降低了峰值力和感知工作量。当难度增加时，这些优势会更加明显。这些令人鼓舞的研究结果肯定了皮肤拉伸触觉反馈增强技术在提高模拟腹腔镜检查任务的性能方面所具有的价值，为在手术室中使用更多的集成和可部署设备铺平了道路。

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引用次数: 0

Bi-Manual Sensory Discrimination: A Kinesthetic Study 双人感官辨别：运动学研究

IF 2.9 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-06 DOI: 10.1109/TOH.2024.3362352

Suhas Kakade;Subhasis Chaudhuri;Abhishek Gupta

The ability of humans to perceive and differentiate kinesthetic sensory information significantly influences our daily activities and motor control. This study examines the impact of asynchronous bi-manual discrimination tasks compared to uni-manual discrimination tasks on kinesthetic perception. Our study aims to reveal the relationship between kinesthetic perception of haptic signals by examining perceptual thresholds in three different scenarios using (i) the dominant hand, (ii) the non-dominant hand, and (iii) both hands simultaneously to differentiate between two successive signals. Subjects exposed to force signals in these three situations conveyed their perceptions of alterations in signal magnitude after each trial. Subsequently, we applied psychometric functions to the collected responses to determine perceptual thresholds. Our results indicate a substantial difference in threshold values between bi-manual and uni-manual scenarios, with the bi-manual scenario exhibiting higher thresholds, indicating inferior perceptual ability when both hands are simultaneously utilized in two separate discrimination tasks. Furthermore, our investigation reveals distinct perception thresholds between the dominant and non-dominant hands, owing to differences in the perceptual capability of the two hands. These findings provide substantial insight into how the nature of tasks may alter kinesthetic perception, offering implications for the development of haptic interfaces in practical applications.

人类感知和区分动觉信息的能力对我们的日常活动和运动控制有着重要影响。本研究探讨了异步双手动分辨任务与单手动分辨任务相比对动觉感知的影响。我们的研究旨在揭示触觉信号的动觉感知之间的关系，方法是在三种不同的场景中分别使用（i）惯用手、（ii）非惯用手和（iii）双手同时区分两个连续的信号来检测感知阈值。在这三种情况下，受试者在每次试验后都会表达他们对力信号幅度变化的感知。随后，我们对收集到的反应应用心理测量函数来确定知觉阈值。我们的结果表明，双人手动和单人手动情景下的阈值存在很大差异，双人手动情景下的阈值更高，这表明在两个独立的辨别任务中同时使用双手时，感知能力较差。此外，我们的研究还发现，由于惯用手和非惯用手的感知能力不同，它们之间的感知阈值也不同。这些发现对任务性质如何改变动觉感知提供了实质性的洞察，为触觉界面在实际应用中的开发提供了启示。

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引用次数: 0

Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow 腕部和肘部皮肤剪切变形引起的旋转运动。

IF 2.9 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-06 DOI: 10.1109/TOH.2024.3362407

Takuto Nakamura;Hideaki Kuzuoka

The hanger reflex is an illusion phenomenon that induces strong force perception and rotational motion, and it occurs in multiple parts of the body. A potential application of this phenomenon is in upper limb rehabilitation for patients with upper-limb paralysis involving arm rotation. However, the only upper limb movements that have been confirmed in this phenomenon are the inward and outward movements of the wrist, which limits the applicable tasks. Therefore, we attempted to apply the hanger reflex to the elbow and use it simultaneously with the wrist. This phenomenon occurs due to shear deformation of the skin, so shear deformation was presented to the skin on the elbow. When shear deformation of the skin was presented to the elbow in the same manner as in previous studies applied to the wrist, movement and force perception of pronation and supination of the elbow were confirmed. The results of an experiment in which the hanger reflex was simultaneously presented to the elbow and wrist showed that each region independently perceived motion and force.

衣架反射是一种幻觉现象，可诱发强烈的力觉和旋转运动，并发生在身体的多个部位。这种现象的潜在应用领域是上肢瘫痪患者的上肢康复，包括手臂旋转。然而，已证实这种现象的上肢运动只有手腕的向内和向外运动，这限制了适用任务。因此，我们尝试将衣架反射应用于肘部，并与手腕同时使用。这种现象是由于皮肤的剪切变形而产生的，因此我们对肘部皮肤进行了剪切变形。在肘部皮肤上施加剪切变形的方式与之前在手腕上施加剪切变形的方式相同，结果证实了肘部代偿和上举的运动和力感。同时在肘部和腕部施加衣架反射的实验结果表明，每个区域都能独立感知运动和力。

引用次数: 0

A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites. 对智能手机和标准工具在多个身体部位进行触觉评估的比较分析。

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-02-05 DOI: 10.1109/TOH.2024.3362154

Rachel A G Adenekan, Alejandrina Gonzalez Reyes, Kyle T Yoshida, Sreela Kodali, Allison M Okamura, Cara M Nunez

Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and the 128 Hz tuning fork, have poor repeatability and resolution. Long term, we aim to provide a repeatable, high-resolution testing platform that can be used to assess vibrotactile perception through smartphones without the need for an experimenter to be present to conduct the test. We present a smartphone-based vibration perception measurement platform and compare its performance to measurements from standard monofilament and tuning fork tests. We conducted a user study with 36 healthy adults in which we tested each tool on the hand, wrist, and foot, to assess how well our smartphone-based vibration perception thresholds (VPTs) detect known trends obtained from standard tests. The smartphone platform detected statistically significant changes in VPT between the index finger and foot and also between the feet of younger adults and older adults. Our smartphone-based VPT had a moderate correlation to tuning fork-based VPT. Our overarching objective is to develop an accessible smartphone-based platform that can eventually be used to measure disease progression and regression.

触觉在日常生活中起着重要作用，患有某些疾病的人触觉可能会受损。最常用的触觉评估工具--塞姆斯-温斯坦单丝和 128 赫兹音叉的重复性和分辨率都很差。从长远来看，我们的目标是提供一个可重复、高分辨率的测试平台，可用于通过智能手机评估振动触觉感知，而无需实验人员在场进行测试。我们介绍了基于智能手机的振动感知测量平台，并将其性能与标准单丝和音叉测试的测量结果进行了比较。我们对 36 名健康成年人进行了用户研究，测试了手部、腕部和足部的每种工具，以评估基于智能手机的振动感知阈值（VPT）对标准测试中已知趋势的检测效果。智能手机平台检测到食指和脚之间的振动感知阈值发生了统计学意义上的显著变化，年轻成年人和老年人脚之间的振动感知阈值也发生了显著变化。我们基于智能手机的 VPT 与基于音叉的 VPT 具有适度的相关性。我们的总体目标是开发一个基于智能手机的便捷平台，该平台最终可用于测量疾病的进展和消退。

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引用次数: 0

Establishing Natural Tactile Mappings: Mapping Tactile Parameters to Continuous Data Concepts 建立自然的触觉映射：将触觉参数映射为连续数据概念。

IF 2.9 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-01-31 DOI: 10.1109/TOH.2024.3357416

Nicholas Gardella;Sara L. Riggs

There has been limited work developing natural mappings between tactile signals and common data concepts in data rich domains. If these mappings can be established, tactile displays can become more intuitive and readily adopted. The present study aims to identify general natural mappings between perceptual dimensions of vibration and continuous data concepts. Twenty-one participants were tasked to map four different tactile parameters to four different data concepts—pressure, concentration, size, and speed. We found that an increase in intensity was good at conveying increases for all data concepts. We also found that speed, pressure, concentration, and size all have at least one strong natural mapping.

在数据丰富的领域中，开发触觉信号与常见数据概念之间自然映射的工作十分有限。如果能建立这些映射关系，触觉显示就会变得更加直观，也更容易被采用。本研究旨在确定振动的感知维度与连续数据概念之间的一般自然映射。21 名参与者被要求将四个不同的触觉参数映射到四个不同的数据概念--压力、浓度、大小和速度。我们发现，强度的增加能很好地表达所有数据概念的增加。我们还发现，速度、压力、浓度和大小都至少有一种强烈的自然映射。

引用次数: 0

Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction 放宽保守主义以增强触觉交互的阻抗范围和透明度

IF 2.9 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-01-29 DOI: 10.1109/TOH.2024.3359230

Huseyin Tugcan Dinc;Thomas Hulin;Christian Ott;Jee-Hwan Ryu

The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic interaction and enhance stable impedance range while maintaining high transparency. Based on the observation of energy exchange behavior in pressing and releasing paths in haptic interaction, we introduce an energy cycle as a completion of a pressing and releasing path. With this new concept, we compare the energies at the end of each energy cycle to estimate the energy generation and inject adaptive damping to regulate it over upcoming cycles. Because we wait a pressing-releasing cycle is completed, we allow energy to be generated, but we regulate the amount of generated energy over upcoming cycles by injecting adaptive damping. In this way, we perform low-frequency control actions on system dynamics. These in turn enable us to achieve high transparency. We show the validity of the proposed approach through several simulations and experiments, and show that it enhances the stable impedance range and transparency compared to the TDPA.

时域被动方法（TDPA）已被认为是设计触觉和远程操作稳定控制器的最不保守的工具之一，但由于它是基于被动性的，因此仍然存在保守的问题。此外，高频、即时的控制动作会导致透明度下降。在本文中，我们提出了一种方法来放松触觉交互的保守性，并在保持高透明度的同时增强稳定的阻抗范围。基于对触觉交互中按压和释放路径中能量交换行为的观察，我们引入了能量循环作为按压和释放路径的完成。利用这一新概念，我们在每个能量循环结束时对能量进行比较，以估算能量的产生，并在接下来的循环中注入自适应阻尼以调节能量。由于我们等待按压-释放循环完成，因此我们允许产生能量，但我们通过注入自适应阻尼来调节未来循环中产生的能量。通过这种方式，我们对系统动态进行低频控制。这反过来又使我们能够实现高透明度。我们通过多次模拟和实验证明了所提方法的有效性，并表明与 TDPA 相比，该方法提高了稳定阻抗范围和透明度。

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引用次数: 0

Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality 在增强现实中进行 3D 操作时的手部视觉-触觉渲染。

IF 2.4 3区计算机科学 Q2 COMPUTER SCIENCE, CYBERNETICS

IEEE Transactions on Haptics

Pub Date : 2024-01-26 DOI: 10.1109/TOH.2024.3358910

Erwan Normand;Claudio Pacchierotti;Eric Marchand;Maud Marchal

Manipulating virtual objects with bare hands is a key interaction in Augmented Reality (AR) applications. However, there are still several limitations that affect the manipulation, including the lack of mutual visual occlusion between virtual and real content as well as the lack of haptic sensations. To address the two abovementioned matters, the role of the visuo-haptic rendering of the hand as sensory feedback is investigated. The first experiment explores the effect of showing the hand of the user as seen by the AR system through an avatar, comparing six visual hand rendering. The second experiment explores the effect of the visuo-haptic hand rendering by comparing two vibrotactile contact techniques provided at four delocalized positions on the hand and combined with the two most representative visual hand renderings from the first experiment. Results show that delocalized vibrotactile haptic hand rendering improved perceived effectiveness, realism, and usefulness when provided close to the contact point. However, the farthest rendering position, i.e., on the contralateral hand, gave the best performance even though it was largely disliked. The visual hand rendering was perceived as less necessary for manipulation when the haptic hand rendering was available, but still provided useful feedback on the hand tracking.

徒手操控虚拟物体是增强现实（AR）应用中的一种关键交互方式。然而，在操作过程中仍存在一些限制因素，包括虚拟内容和现实内容之间缺乏相互视觉遮挡以及缺乏触觉。为了解决上述两个问题，我们研究了手的视觉-触觉渲染作为感觉反馈的作用。第一个实验探索了 AR 系统通过头像显示用户手部的效果，并对六种视觉手部渲染进行了比较。第二个实验通过比较在手的四个局部位置提供的两种振动触觉接触技术，并结合第一个实验中最具代表性的两种视觉手部效果图，来探索视觉触觉手部效果图的效果。结果表明，在靠近接触点的位置提供的局部振动触觉手部渲染提高了感知效果、真实性和实用性。然而，最远的渲染位置（即在对侧手掌上）的表现最好，尽管它在很大程度上不受欢迎。在有触觉手部渲染的情况下，视觉手部渲染被认为对操作的必要性较低，但仍能提供有用的手部跟踪反馈。

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