Pub Date : 2025-06-19DOI: 10.1109/TOH.2025.3581014
Yunxiu Xu;Siyu Wang;Shoichi Hasegawa
This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin strings and actuators attached to the fingernails, ensures minimal weight (1.55 g per finger) and preserves finger flexibility. Integrating the software with a physics engine renders multiple types of haptic feedback (grip force, collision, and sliding vibration feedback). We evaluated the device’s performance in pressure perception, slip feedback, typical dexterous manipulation tasks, and daily operations, and we gathered user experience through subjective assessments. Our results show that participants could perceive and respond to pressure and vibration feedback. Through dexterous manipulation experiments, we further demonstrated that these minimal haptic cues significantly improved virtual task efficiency, showcasing how lightweight haptic feedback can enhance manipulation performance without complex mechanisms. The device’s ability to preserve tactile sensations and minimize hindrance to real-world operations is a key advantage over glove-type haptic devices. This research offers a potential solution for designing haptic interfaces that balance lightweight construction, haptic feedback for dexterous manipulation, and daily wearability.
{"title":"Lightweight Fingernail Haptic Device: Unobstructed Fingerpad Force and Vibration Feedback for Enhanced Virtual Dexterous Manipulation","authors":"Yunxiu Xu;Siyu Wang;Shoichi Hasegawa","doi":"10.1109/TOH.2025.3581014","DOIUrl":"10.1109/TOH.2025.3581014","url":null,"abstract":"This study presents a lightweight, wearable fingertip haptic device that provides physics-based haptic feedback for dexterous manipulation in virtual environments without hindering real-world interactions. The device, designed with thin strings and actuators attached to the fingernails, ensures minimal weight (1.55 g per finger) and preserves finger flexibility. Integrating the software with a physics engine renders multiple types of haptic feedback (grip force, collision, and sliding vibration feedback). We evaluated the device’s performance in pressure perception, slip feedback, typical dexterous manipulation tasks, and daily operations, and we gathered user experience through subjective assessments. Our results show that participants could perceive and respond to pressure and vibration feedback. Through dexterous manipulation experiments, we further demonstrated that these minimal haptic cues significantly improved virtual task efficiency, showcasing how lightweight haptic feedback can enhance manipulation performance without complex mechanisms. The device’s ability to preserve tactile sensations and minimize hindrance to real-world operations is a key advantage over glove-type haptic devices. This research offers a potential solution for designing haptic interfaces that balance lightweight construction, haptic feedback for dexterous manipulation, and daily wearability.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"626-639"},"PeriodicalIF":2.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144333020","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 : 2025-06-17DOI: 10.1109/TOH.2025.3580544
Yan Wei;Yu Feng;Linlin Ou;Yueying Wang;Xinyi Yu
The flexibility and safety of physical human-robot interaction are essential for real-world applications. Therefore, this study investigates adaptive optimal control for physical human-robot interaction under dynamic output constraints. We develop an admittance-based approach to reconstruct reference trajectories, facilitating smooth online transitions between different interactive tasks. Additionally, we introduce a regulation function that establishes the relationship between interaction force and various collaborative robot behaviors. To accommodate more general dynamic output constraints, we propose a dynamic integral barrier Lyapunov function (DIBLF)-based adaptive dynamic programming control scheme, which extends the applicability of the integral barrier Lyapunov function (IBLF) to a wider range of cases. Stability analysis shows that all signals in the closed-loop system remain bounded, and the output constraints are consistently upheld. Finally, a Franka EMIKA Panda robot is utilized as a test platform to perform a material deposition task, thereby validating the effectiveness of the proposed methodology.
{"title":"DIBLF-Based Adaptive Optimal Constrained Control for Collaborative Robots Under Different Human-Robot Interactive Tasks","authors":"Yan Wei;Yu Feng;Linlin Ou;Yueying Wang;Xinyi Yu","doi":"10.1109/TOH.2025.3580544","DOIUrl":"10.1109/TOH.2025.3580544","url":null,"abstract":"The flexibility and safety of physical human-robot interaction are essential for real-world applications. Therefore, this study investigates adaptive optimal control for physical human-robot interaction under dynamic output constraints. We develop an admittance-based approach to reconstruct reference trajectories, facilitating smooth online transitions between different interactive tasks. Additionally, we introduce a regulation function that establishes the relationship between interaction force and various collaborative robot behaviors. To accommodate more general dynamic output constraints, we propose a dynamic integral barrier Lyapunov function (DIBLF)-based adaptive dynamic programming control scheme, which extends the applicability of the integral barrier Lyapunov function (IBLF) to a wider range of cases. Stability analysis shows that all signals in the closed-loop system remain bounded, and the output constraints are consistently upheld. Finally, a Franka EMIKA Panda robot is utilized as a test platform to perform a material deposition task, thereby validating the effectiveness of the proposed methodology.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"640-651"},"PeriodicalIF":2.8,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144316813","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}
In our day-to-day activities, we utilize not only the pads of our fingers but also the sides and hemispherical tips when manipulating objects. For teleoperation systems to replicate these real-life interactions, tactile sensation must be presented and distributed across the entire fingertip. Thus, understanding the distribution of tactile acuity at the fingertip is imperative. Although there is a general conception that the tactile acuity of the finger differs between the end of the finger and the finger pad, both the change in resolution and the resolution along the side of the finger are relatively unexplored. We measured the tactile acuity distribution across the entire fingertip of the index finger and thumb, defining it as the ability to distinguish between two discrete orientations of the short linear tip of an indenter. The results revealed that tactile acuity decreased gradually and almost monotonically from fingertip to finger pad, with a significant drop observed at the lateral side of the fingertip. This study provides a fundamental basis for designing devices that can provide a level of tactile presentation wherein shapes can be recognized upon touch.
{"title":"Measuring the Distribution of Tactile Acuity at the Index Finger and Thumb Fingertips","authors":"Michiru Sobue;Soma Kato;Izumi Mizoguchi;Hiroyuki Kajimoto","doi":"10.1109/TOH.2025.3580707","DOIUrl":"10.1109/TOH.2025.3580707","url":null,"abstract":"In our day-to-day activities, we utilize not only the pads of our fingers but also the sides and hemispherical tips when manipulating objects. For teleoperation systems to replicate these real-life interactions, tactile sensation must be presented and distributed across the entire fingertip. Thus, understanding the distribution of tactile acuity at the fingertip is imperative. Although there is a general conception that the tactile acuity of the finger differs between the end of the finger and the finger pad, both the change in resolution and the resolution along the side of the finger are relatively unexplored. We measured the tactile acuity distribution across the entire fingertip of the index finger and thumb, defining it as the ability to distinguish between two discrete orientations of the short linear tip of an indenter. The results revealed that tactile acuity decreased gradually and almost monotonically from fingertip to finger pad, with a significant drop observed at the lateral side of the fingertip. This study provides a fundamental basis for designing devices that can provide a level of tactile presentation wherein shapes can be recognized upon touch.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"663-670"},"PeriodicalIF":2.8,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11039173","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144316814","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 : 2025-06-17DOI: 10.1109/TOH.2025.3580509
Dallin L. Cordon;John L. Salmon;Marc D. Killpack
Achieving seamless human-robot collaboration requires a deeper understanding of how agents manage and communicate forces during shared tasks. Force interactions during collaborative manipulation are inherently complex, especially when considering how they evolve over time. To address this complexity, we propose a taxonomy of decomposed force and torque components, providing a structured framework for examining haptic communication and informing the development of robots capable of performing meaningful collaborative manipulation tasks with human partners. We propose a standardized terminology for force decomposition and classification, bridging the varied language in previous literature in the field, and conduct a review of physical human-human interaction and haptic communication. The proposed taxonomy allows for a more effective and nuanced discussion of important force combinations that we expect to occur during collaborative manipulation (between human-human or human-robot teams). We also include example scenarios to illustrate the value of the proposed taxonomy in describing interactions between agents.
{"title":"A Force/Torque Taxonomy for Classifying States During Physical Co-Manipulation","authors":"Dallin L. Cordon;John L. Salmon;Marc D. Killpack","doi":"10.1109/TOH.2025.3580509","DOIUrl":"10.1109/TOH.2025.3580509","url":null,"abstract":"Achieving seamless human-robot collaboration requires a deeper understanding of how agents manage and communicate forces during shared tasks. Force interactions during collaborative manipulation are inherently complex, especially when considering how they evolve over time. To address this complexity, we propose a taxonomy of decomposed force and torque components, providing a structured framework for examining haptic communication and informing the development of robots capable of performing meaningful collaborative manipulation tasks with human partners. We propose a standardized terminology for force decomposition and classification, bridging the varied language in previous literature in the field, and conduct a review of physical human-human interaction and haptic communication. The proposed taxonomy allows for a more effective and nuanced discussion of important force combinations that we expect to occur during collaborative manipulation (between human-human or human-robot teams). We also include example scenarios to illustrate the value of the proposed taxonomy in describing interactions between agents.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"482-497"},"PeriodicalIF":2.8,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144316812","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 : 2025-06-16DOI: 10.1109/TOH.2025.3580216
Yusuke Ujitoko;Tao Morisaki
The development of finger-worn haptic devices requires careful consideration of weight-related design trade-offs. Increased functionality commonly results in additional device weight, potentially burdening the wearer and impairing finger dexterity. Despite the importance of weight in design considerations, the field lacks criteria for acceptable device weight. This study addresses this gap by exploring weight criteria for continuous wear. We posit that for such devices to be adopted, their weight must not hinder daily activities when the device is not providing haptic feedback. In experiments, we investigated how device weight affected performance during common office tasks, specifically pointing and typing. Participants wore a mockup of a finger-worn haptic device and completed tasks as quickly and accurately as possible. We manipulated the weight (0, 20, 40, and 60 g) and placement of the device (proximal and distal). Across tasks, we found that adding up to 60 g to the index finger did not degrade task performance, while subjective user load increased under some conditions. These findings suggest that in scenarios where office task performance is critical, devices weighing up to 60 g are acceptable regardless of their placement on the finger.
{"title":"Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design","authors":"Yusuke Ujitoko;Tao Morisaki","doi":"10.1109/TOH.2025.3580216","DOIUrl":"10.1109/TOH.2025.3580216","url":null,"abstract":"The development of finger-worn haptic devices requires careful consideration of weight-related design trade-offs. Increased functionality commonly results in additional device weight, potentially burdening the wearer and impairing finger dexterity. Despite the importance of weight in design considerations, the field lacks criteria for acceptable device weight. This study addresses this gap by exploring weight criteria for continuous wear. We posit that for such devices to be adopted, their weight must not hinder daily activities when the device is not providing haptic feedback. In experiments, we investigated how device weight affected performance during common office tasks, specifically pointing and typing. Participants wore a mockup of a finger-worn haptic device and completed tasks as quickly and accurately as possible. We manipulated the weight (0, 20, 40, and 60 g) and placement of the device (proximal and distal). Across tasks, we found that adding up to 60 g to the index finger did not degrade task performance, while subjective user load increased under some conditions. These findings suggest that in scenarios where office task performance is critical, devices weighing up to 60 g are acceptable regardless of their placement on the finger.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"615-625"},"PeriodicalIF":2.8,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11037560","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144309896","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 : 2025-06-12DOI: 10.1109/TOH.2025.3579134
Elodie Bouzbib, Stefan Donkov, Sonia Elizondo, Josu Irisarri, Mikel Aldea, Inigo Ezcurdia, Naroa Iriarte, Asier Marzo
Devices capable of stroking the user's forearm are being explored for digitally mediated touch but are mainly contact-based. We propose ElectroCaresses, the use of electrostatic piloerection to convey contactless gentle strokes by generating dynamic patterns of hair erection along the forearm. We investigated if a discrete set of electrodes can convey apparent motion (n=12), and evaluated effects of distance, duration and direction on continuity perception. We show that participants can discriminate stimuli direction with a high accuracy (93%) and perceive a continuous stroking stimulus using discrete signals. We finally propose guidelines for designing haptic illusions of motion using electrostatics-based haptics.
{"title":"ElectroCaresses: Contactless Apparent Motion on the Forearm using Electrostatic Piloerection.","authors":"Elodie Bouzbib, Stefan Donkov, Sonia Elizondo, Josu Irisarri, Mikel Aldea, Inigo Ezcurdia, Naroa Iriarte, Asier Marzo","doi":"10.1109/TOH.2025.3579134","DOIUrl":"https://doi.org/10.1109/TOH.2025.3579134","url":null,"abstract":"<p><p>Devices capable of stroking the user's forearm are being explored for digitally mediated touch but are mainly contact-based. We propose ElectroCaresses, the use of electrostatic piloerection to convey contactless gentle strokes by generating dynamic patterns of hair erection along the forearm. We investigated if a discrete set of electrodes can convey apparent motion (n=12), and evaluated effects of distance, duration and direction on continuity perception. We show that participants can discriminate stimuli direction with a high accuracy (93%) and perceive a continuous stroking stimulus using discrete signals. We finally propose guidelines for designing haptic illusions of motion using electrostatics-based haptics.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144283747","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 : 2025-06-11DOI: 10.1109/TOH.2025.3576894
Nedim Goktepe;Müge Cavdan;Knut Drewing
Previous studies have successfully elicited a wide range of emotional responses by stimulating the hand region. The purpose of the current study was to test whether tactile stimuli applied to the torso could elicit similar emotional responses. To this end, we created 45 custom vibrotactile patterns that were presented through a vibrotactile vest to the front, back, and both sides of the torso. The patterns covered a wide range of physical variables such as amplitude, trajectory, and continuity. In an exploratory experiment, participants rated the arousal and valence of these patterns. Emotional responses differed between the patterns, and detailed analyses suggested that vibration amplitude and intensity where these vibrations were applied influenced both valence and arousal judgments. In a follow-up experiment, we systematically varied the amplitude and location of the vibrations. Our results showed that lower amplitudes were less arousing and more pleasant than higher amplitudes. Similarly, vibrations to the back torso were less arousing and more pleasant than those applied to the front or both sides of the torso, which can be explained by the lower sensitivity on the back. Taken together, we suggest that perceived intensity partially explains the relationship between the emotionality of vibration patterns on the torso.
{"title":"Touched by Vibrations: Intensity Modulates Valence and Arousal on the Torso","authors":"Nedim Goktepe;Müge Cavdan;Knut Drewing","doi":"10.1109/TOH.2025.3576894","DOIUrl":"10.1109/TOH.2025.3576894","url":null,"abstract":"Previous studies have successfully elicited a wide range of emotional responses by stimulating the hand region. The purpose of the current study was to test whether tactile stimuli applied to the torso could elicit similar emotional responses. To this end, we created 45 custom vibrotactile patterns that were presented through a vibrotactile vest to the front, back, and both sides of the torso. The patterns covered a wide range of physical variables such as amplitude, trajectory, and continuity. In an exploratory experiment, participants rated the arousal and valence of these patterns. Emotional responses differed between the patterns, and detailed analyses suggested that vibration amplitude and intensity where these vibrations were applied influenced both valence and arousal judgments. In a follow-up experiment, we systematically varied the amplitude and location of the vibrations. Our results showed that lower amplitudes were less arousing and more pleasant than higher amplitudes. Similarly, vibrations to the back torso were less arousing and more pleasant than those applied to the front or both sides of the torso, which can be explained by the lower sensitivity on the back. Taken together, we suggest that perceived intensity partially explains the relationship between the emotionality of vibration patterns on the torso.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"595-602"},"PeriodicalIF":2.8,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144274670","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 : 2025-06-09DOI: 10.1109/TOH.2025.3578076
Yannick Weiss;Albrecht Schmidt;Steeven Villa
Haptic Illusions (HIs) have emerged as a versatile method to enrich haptic experiences for computing systems, especially in virtual reality scenarios. Unlike traditional haptic rendering, HIs do not rely on complex hardware. Instead, HIs leverage multisensory interactions, which can be elicited through audio-visual channels. However, the intensity at which HIs can be effectively applied is highly subject-dependent, and typical measures only estimate generalized boundaries based on small samples. Consequently, resulting techniques compromise the experience for some users and fail to fully exploit an HI for others. We propose adapting HI intensity to the physiological responses of individual users to optimize their haptic experiences. Specifically, we investigate electroencephalographic (EEG) correlates associated with the detection of an HI’s manipulations. For this, we integrated EEG with an established psychophysical protocol. Our user study (N = 32) revealed distinct and separable EEG markers between detected and undetected HI manipulations. We identified contrasts in oscillatory activity between the central and parietal, as well as in frontal regions, as reliable markers for detection. Further, we trained machine learning models with simple averaged signals, which demonstrated potential for future in situ HI detection. These discoveries pave the way for adaptive HI systems that tailor elicitation to individual and contextual factors, enabling HIs to produce more convincing and reliable haptic feedback.
{"title":"Electrophysiological Correlates for the Detection of Haptic Illusions","authors":"Yannick Weiss;Albrecht Schmidt;Steeven Villa","doi":"10.1109/TOH.2025.3578076","DOIUrl":"10.1109/TOH.2025.3578076","url":null,"abstract":"Haptic Illusions (HIs) have emerged as a versatile method to enrich haptic experiences for computing systems, especially in virtual reality scenarios. Unlike traditional haptic rendering, HIs do not rely on complex hardware. Instead, HIs leverage multisensory interactions, which can be elicited through audio-visual channels. However, the intensity at which HIs can be effectively applied is highly subject-dependent, and typical measures only estimate generalized boundaries based on small samples. Consequently, resulting techniques compromise the experience for some users and fail to fully exploit an HI for others. We propose adapting HI intensity to the physiological responses of individual users to optimize their haptic experiences. Specifically, we investigate electroencephalographic (EEG) correlates associated with the detection of an HI’s manipulations. For this, we integrated EEG with an established psychophysical protocol. Our user study (N = 32) revealed distinct and separable EEG markers between detected and undetected HI manipulations. We identified contrasts in oscillatory activity between the central and parietal, as well as in frontal regions, as reliable markers for detection. Further, we trained machine learning models with simple averaged signals, which demonstrated potential for future in situ HI detection. These discoveries pave the way for adaptive HI systems that tailor elicitation to individual and contextual factors, enabling HIs to produce more convincing and reliable haptic feedback.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"582-594"},"PeriodicalIF":2.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144257982","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}
In haptic shared control (HSC) for teleoperation, the human operator and autonomous system share control via torque on the input device. When a discrepancy exists between the human’s maneuvering intent and the autonomous maneuver presentation, the human can apply additional force to the device to achieve the desired maneuvering. The required force level is generally predetermined during design and closely relates to the human workload. This study investigated scenarios where discrepancies between human and machine control occur frequently owing to unreliable sensor information. We propose a method to allow the operator to adjust the machine’s assist level, facilitating smoother control transitions and proving useful when machine suggestions are unreliable. Conventional HSC systems generally lack sufficient information for operators to make informed decisions regarding adjusting assist levels, leading to delayed decisions and increased workloads. To address this, our research objective is to communicate sensor reliability to humans, thereby facilitating deciding the machine’s assist level. We focused on the HSC of a remotely operated underwater vehicle (ROV) where the sensor system is prone to unreliable. Maneuvering experiments with an ROV simulation involving sixteen participants demonstrated the proposed method effectively communicates sensor reliability to operators and reduces mental demand compared to conventional methods.
{"title":"Supplemental Human-Machine Interface for Haptic Shared Control to Convey Sensor Reliability Information to an Operator of Underwater Vehicles","authors":"Eito Sato;Yasuaki Orita;Norimitsu Sakagami;Takahiro Wada","doi":"10.1109/TOH.2025.3563451","DOIUrl":"10.1109/TOH.2025.3563451","url":null,"abstract":"In haptic shared control (HSC) for teleoperation, the human operator and autonomous system share control via torque on the input device. When a discrepancy exists between the human’s maneuvering intent and the autonomous maneuver presentation, the human can apply additional force to the device to achieve the desired maneuvering. The required force level is generally predetermined during design and closely relates to the human workload. This study investigated scenarios where discrepancies between human and machine control occur frequently owing to unreliable sensor information. We propose a method to allow the operator to adjust the machine’s assist level, facilitating smoother control transitions and proving useful when machine suggestions are unreliable. Conventional HSC systems generally lack sufficient information for operators to make informed decisions regarding adjusting assist levels, leading to delayed decisions and increased workloads. To address this, our research objective is to communicate sensor reliability to humans, thereby facilitating deciding the machine’s assist level. We focused on the HSC of a remotely operated underwater vehicle (ROV) where the sensor system is prone to unreliable. Maneuvering experiments with an ROV simulation involving sixteen participants demonstrated the proposed method effectively communicates sensor reliability to operators and reduces mental demand compared to conventional methods.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"722-731"},"PeriodicalIF":2.8,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143990821","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 : 2025-04-21DOI: 10.1109/TOH.2025.3561889
Wanjoo Park;Haneen Alsuradi;Mohamad Eid
Haptic feedback seems effective in conveying information at a desirable level of urgency. There is a growing interest in understanding the neural mechanisms associated with haptic feedback using electroencephalography (EEG) measures. In particular, EEG hemispheric asymmetry is known to be correlated with various cognitive functions such as emotions, stress, anxiety, and attention. The current study aimed to investigate EEG hemispheric asymmetry associated with perceived urgency elicited using vibration feedback on the upper body. A total of 31 participants experienced three vibration patterns designed to elicit three levels of urgency, namely the no vibration pattern (NVP), urgent vibration pattern (UVP), and very urgent vibration pattern (VUVP). In the event-related potential (ERP) analysis, N100, P200, and P300 components were observed under the UVP and VUVP conditions. Notably, these components were absent under the NVP condition. The P200 and P300 ERP components as well as the participants' self-reporting confirmed the two distinguishable levels of perceived urgency (urgent and very urgent). Furthermore, the alpha and beta hemispheric asymmetry in the centroparietal area was significantly higher in the UVP and VUVP conditions as compared to the NVP condition between 500 ms and 2000 ms after the stimulation onset (One-way ANOVA test, Bonferroni correction, p $< $ 0.05). This is the first study to investigate the EEG asymmetry in response to perceived urgency elicited by upper body vibrations. These results suggest that the alpha and beta hemispheric asymmetry in the centroparietal area is a valid feature for detecting urgency elicited by vibrations on the upper body.
{"title":"Centroparietal Alpha/Beta Asymmetry in Response to Urgency Elicited by Upper Body Vibration","authors":"Wanjoo Park;Haneen Alsuradi;Mohamad Eid","doi":"10.1109/TOH.2025.3561889","DOIUrl":"10.1109/TOH.2025.3561889","url":null,"abstract":"Haptic feedback seems effective in conveying information at a desirable level of urgency. There is a growing interest in understanding the neural mechanisms associated with haptic feedback using electroencephalography (EEG) measures. In particular, EEG hemispheric asymmetry is known to be correlated with various cognitive functions such as emotions, stress, anxiety, and attention. The current study aimed to investigate EEG hemispheric asymmetry associated with perceived urgency elicited using vibration feedback on the upper body. A total of 31 participants experienced three vibration patterns designed to elicit three levels of urgency, namely the no vibration pattern (NVP), urgent vibration pattern (UVP), and very urgent vibration pattern (VUVP). In the event-related potential (ERP) analysis, N100, P200, and P300 components were observed under the UVP and VUVP conditions. Notably, these components were absent under the NVP condition. The P200 and P300 ERP components as well as the participants' self-reporting confirmed the two distinguishable levels of perceived urgency (urgent and very urgent). Furthermore, the alpha and beta hemispheric asymmetry in the centroparietal area was significantly higher in the UVP and VUVP conditions as compared to the NVP condition between 500 ms and 2000 ms after the stimulation onset (One-way ANOVA test, Bonferroni correction, <italic>p</i> <inline-formula><tex-math>$< $</tex-math></inline-formula> 0.05). This is the first study to investigate the EEG asymmetry in response to perceived urgency elicited by upper body vibrations. These results suggest that the alpha and beta hemispheric asymmetry in the centroparietal area is a valid feature for detecting urgency elicited by vibrations on the upper body.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"770-775"},"PeriodicalIF":2.8,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143993809","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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