Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions to be known. We propose a novel approach – which we refer to as the DelayRIM – which uses the time-stepping aspect of a Reduced Interface Model for the environment to render an up-to-date force to the haptic device from the delayed information. RIM is applicable to any physical or virtual system, and the DelayRIM itself makes no underlying assumption about the latency distribution. We show that for realistic variable delays, the DelayRIM improves transparency compared to other methods for a virtual drone bilateral teleoperation scenario.
{"title":"Haptic Interactions Subject to Variable Latency","authors":"Chantal Hutchison;Joseph Hewlett;Siamak Arbatani;Antoine Weill-Duflos;József Kövecses","doi":"10.1109/TOH.2024.3357070","DOIUrl":"10.1109/TOH.2024.3357070","url":null,"abstract":"Model-Mediated Teleoperation (MMT) between a haptic device and a remote or virtual environment uses a local model of the environment to compensate for latency of communication. MMT is often case-specific, and requires underlying latency distributions to be known. We propose a novel approach – which we refer to as the DelayRIM – which uses the time-stepping aspect of a Reduced Interface Model for the environment to render an up-to-date force to the haptic device from the delayed information. RIM is applicable to any physical or virtual system, and the DelayRIM itself makes no underlying assumption about the latency distribution. We show that for realistic variable delays, the DelayRIM improves transparency compared to other methods for a virtual drone bilateral teleoperation scenario.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139542302","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 : 2024-01-22DOI: 10.1109/TOH.2024.3355203
Daziyah H. Sullivan;Elyse D. Z. Chase;Marcia K. O'Malley
Wearable devices increasingly incorporate vibrotactile feedback notifications to users, which are limited by the frequency-dependent response characteristics of the low-cost actuators that they employ. To increase the range and type of information that can be conveyed to users via vibration feedback, it is crucial to understand user perception of vibration cue intensity across the narrow range of frequencies that these actuators operate. In this paper, we quantify user perception of vibration cues conveyed via a linear resonant actuator embedded in a bracelet interface using two psychophysical experiments. We also experimentally determine the frequency response characteristics of the wearable device. We then compare user perceived intensity of vibration cues delivered by the bracelet when the cues undergo frequency-specific amplitude modulation based on user perception compared to modulation based on the experimental or manufacturer-reported characterization of the actuator dynamic response. For applications in which designers rely on user perception of cue amplitudes across frequencies to be equivalent, it is recommended that a perceptual calibration experiment be conducted to determine appropriate modulation factors. For applications in which only relative perceived amplitudes are important, basing amplitude modulation factors on manufacturer data or experimentally determined dynamic response characteristics of the wearable device should be sufficient.
{"title":"Comparing the Perceived Intensity of Vibrotacitle Cues Scaled Based on Inherent Dynamic Range","authors":"Daziyah H. Sullivan;Elyse D. Z. Chase;Marcia K. O'Malley","doi":"10.1109/TOH.2024.3355203","DOIUrl":"10.1109/TOH.2024.3355203","url":null,"abstract":"Wearable devices increasingly incorporate vibrotactile feedback notifications to users, which are limited by the frequency-dependent response characteristics of the low-cost actuators that they employ. To increase the range and type of information that can be conveyed to users via vibration feedback, it is crucial to understand user perception of vibration cue intensity across the narrow range of frequencies that these actuators operate. In this paper, we quantify user perception of vibration cues conveyed via a linear resonant actuator embedded in a bracelet interface using two psychophysical experiments. We also experimentally determine the frequency response characteristics of the wearable device. We then compare user perceived intensity of vibration cues delivered by the bracelet when the cues undergo frequency-specific amplitude modulation based on user perception compared to modulation based on the experimental or manufacturer-reported characterization of the actuator dynamic response. For applications in which designers rely on user perception of cue amplitudes across frequencies to be equivalent, it is recommended that a perceptual calibration experiment be conducted to determine appropriate modulation factors. For applications in which only relative perceived amplitudes are important, basing amplitude modulation factors on manufacturer data or experimentally determined dynamic response characteristics of the wearable device should be sufficient.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139519884","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 : 2024-01-22DOI: 10.1109/TOH.2024.3356609
Behnam Khojasteh;Yitian Shao;Katherine J. Kuchenbecker
Sliding a tool across a surface generates rich sensations that can be analyzed to recognize what is being touched. However, the optimal configuration for capturing these signals is yet unclear. To bridge this gap, we consider haptic-auditory data as a human explores surfaces with different steel tools, including accelerations of the tool and finger, force and torque applied to the surface, and contact sounds. Our classification pipeline uses the maximum mean discrepancy (MMD) to quantify differences in data distributions in a high-dimensional space for inference. With recordings from three hemispherical tool diameters and ten diverse surfaces, we conducted two degradation studies by decreasing sensing bandwidth and increasing added noise. We evaluate the haptic-auditory recognition performance achieved with the MMD to compare newly gathered data to each surface in our known library. The results indicate that acceleration signals alone have great potential for high-accuracy surface recognition and are robust against noise contamination. The optimal accelerometer bandwidth exceeds 1000 Hz, suggesting that useful vibrotactile information extends beyond human perception range. Finally, smaller tool tips generate contact vibrations with better noise robustness. The provided sensing guidelines may enable superhuman performance in portable surface recognition, which could benefit quality control, material documentation, and robotics.
{"title":"Robust Surface Recognition With the Maximum Mean Discrepancy: Degrading Haptic-Auditory Signals Through Bandwidth and Noise","authors":"Behnam Khojasteh;Yitian Shao;Katherine J. Kuchenbecker","doi":"10.1109/TOH.2024.3356609","DOIUrl":"10.1109/TOH.2024.3356609","url":null,"abstract":"Sliding a tool across a surface generates rich sensations that can be analyzed to recognize what is being touched. However, the optimal configuration for capturing these signals is yet unclear. To bridge this gap, we consider haptic-auditory data as a human explores surfaces with different steel tools, including accelerations of the tool and finger, force and torque applied to the surface, and contact sounds. Our classification pipeline uses the maximum mean discrepancy (MMD) to quantify differences in data distributions in a high-dimensional space for inference. With recordings from three hemispherical tool diameters and ten diverse surfaces, we conducted two degradation studies by decreasing sensing bandwidth and increasing added noise. We evaluate the haptic-auditory recognition performance achieved with the MMD to compare newly gathered data to each surface in our known library. The results indicate that acceleration signals alone have great potential for high-accuracy surface recognition and are robust against noise contamination. The optimal accelerometer bandwidth exceeds 1000 Hz, suggesting that useful vibrotactile information extends beyond human perception range. Finally, smaller tool tips generate contact vibrations with better noise robustness. The provided sensing guidelines may enable superhuman performance in portable surface recognition, which could benefit quality control, material documentation, and robotics.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10411097","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139519892","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 : 2024-01-19DOI: 10.1109/TOH.2024.3355982
Zhenyu Liu;Jin-Tae Kim;John A. Rogers;Roberta L. Klatzky;J. Edward Colgate
This study investigates the effects of two stimulation modalities (stretch and vibration) on natural touch sensation on the volar forearm. The skin-textile interaction was implemented by scanning three textures across the left forearm. The resulting skin displacements were recorded by the digital image correlation technique to capture the information imparted by the textures. The texture recordings were used to create three playback modes (stretch, vibration, and both), which were reproduced on the right forearm. Two psychophysical experiments compared the texture scans to rendered texture playbacks. The first experiment used a matching task and found that to maximize perceptual realism, i.e., similarity to a physical reference, subjects preferred the rendered texture to have a playback intensity of 1X – 2X higher on DC components (stretch), and 1X – 3.5X higher on AC components (vibration), varying across textures. The second experiment elicited similarity ratings between the texture scans and playbacks and showed that a combination of stretch and vibration was required to create differentiated texture sensations. However, the intensity amplification and use of two stimuli were still insufficient to create fully realistic texture sensations. We conclude that mechanisms beyond single-site uniaxial stimuli are needed to reproduce realistic textural sensations.
{"title":"Realism of Tactile Texture Playback: A Combination of Stretch and Vibration","authors":"Zhenyu Liu;Jin-Tae Kim;John A. Rogers;Roberta L. Klatzky;J. Edward Colgate","doi":"10.1109/TOH.2024.3355982","DOIUrl":"10.1109/TOH.2024.3355982","url":null,"abstract":"This study investigates the effects of two stimulation modalities (stretch and vibration) on natural touch sensation on the volar forearm. The skin-textile interaction was implemented by scanning three textures across the left forearm. The resulting skin displacements were recorded by the digital image correlation technique to capture the information imparted by the textures. The texture recordings were used to create three playback modes (stretch, vibration, and both), which were reproduced on the right forearm. Two psychophysical experiments compared the texture scans to rendered texture playbacks. The first experiment used a matching task and found that to maximize perceptual realism, i.e., similarity to a physical reference, subjects preferred the rendered texture to have a playback intensity of 1X – 2X higher on DC components (stretch), and 1X – 3.5X higher on AC components (vibration), varying across textures. The second experiment elicited similarity ratings between the texture scans and playbacks and showed that a combination of stretch and vibration was required to create differentiated texture sensations. However, the intensity amplification and use of two stimuli were still insufficient to create fully realistic texture sensations. We conclude that mechanisms beyond single-site uniaxial stimuli are needed to reproduce realistic textural sensations.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139502435","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}
Spatiotemporal modulation (STM) is used in Ultrasonic Mid-Air Haptics to create compelling tactile sensations. The STM can create perceptually distinct sensations. We specified the sensations of a palm-size pattern by varying the focal point's speed and pattern sampling rate. Three sensations were specified, named as Dynamic, Vibratory and Uniform. A selective identification study was conducted to evaluate if the sensations were recognizable to the perception when presented individually and simultaneously (combined stimuli). The results support the STM's specification and the selective recognition of the sensations was possible for some combinations.
{"title":"Spatiotemporal Modulation for Ultrasonic Mid-Air Haptics: Sensation's Specification and Validation","authors":"Eduardo Mendes;Paulo Santos;João Carvalho;Jorge Cabral","doi":"10.1109/TOH.2024.3355187","DOIUrl":"10.1109/TOH.2024.3355187","url":null,"abstract":"Spatiotemporal modulation (STM) is used in Ultrasonic Mid-Air Haptics to create compelling tactile sensations. The STM can create perceptually distinct sensations. We specified the sensations of a palm-size pattern by varying the focal point's speed and pattern sampling rate. Three sensations were specified, named as Dynamic, Vibratory and Uniform. A selective identification study was conducted to evaluate if the sensations were recognizable to the perception when presented individually and simultaneously (combined stimuli). The results support the STM's specification and the selective recognition of the sensations was possible for some combinations.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139485539","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 : 2024-01-16DOI: 10.1109/TOH.2024.3354514
Dexin Liu;Hengxin Chen
Some interactions in virtual environments need to be operated on inclined planes. If a real inclined plane can be found in the real environment that corresponds exactly to the angle of the virtual inclined plane to provide haptic feedback, the user's immersion can be enhanced. However, it is not easy to find such a real inclined plane in the real environment. We proposed a horizontal plane haptic redirection scheme, where users interacting with virtual inclined planes in virtual environments can obtain haptic feelings by using real horizontal planes that are easily available in the real world for redirection mapping. We also designed an integrated solution to locate the real horizontal plane and for haptic redirection based on the Vive Pro headset. Then we measured the angle and size thresholds for horizontal plane haptic redirection as 20° and 88%, respectively, through a user study. Through experiments, we also found that when the degree of redirection exceeded the threshold, the user's operation efficiency would be significantly reduced. In addition, we compared the horizontal plane haptic redirection scheme with the scheme without redirection and the scheme without haptic feedback to demonstrate the validity and necessity of the redirection scheme proposed in this paper.
虚拟环境中的某些互动需要在倾斜平面上进行操作。如果能在真实环境中找到一个与虚拟斜面角度完全一致的真实斜面来提供触觉反馈，就能增强用户的沉浸感。然而，要在真实环境中找到这样一个真实的倾斜平面并不容易。我们提出了一种水平面触觉重定向方案，用户在虚拟环境中与虚拟倾斜面进行交互时，可以利用现实世界中容易找到的真实水平面进行重定向映射，从而获得触觉感受。我们还设计了一个基于 Vive Pro 头显的集成解决方案，用于定位真实水平面和触觉重定向。然后，我们通过用户研究测得水平面触觉重定向的角度和尺寸阈值分别为 20° 和 88%。通过实验，我们还发现当重定向程度超过阈值时，用户的操作效率会明显降低。此外，我们还将水平面触觉重定向方案与无重定向方案和无触觉反馈方案进行了比较，以证明本文提出的重定向方案的有效性和必要性。
{"title":"Horizontal Plane Haptic Redirection: Realizing Haptic Feedback for the Virtual Inclined Plane in VR","authors":"Dexin Liu;Hengxin Chen","doi":"10.1109/TOH.2024.3354514","DOIUrl":"10.1109/TOH.2024.3354514","url":null,"abstract":"Some interactions in virtual environments need to be operated on inclined planes. If a real inclined plane can be found in the real environment that corresponds exactly to the angle of the virtual inclined plane to provide haptic feedback, the user's immersion can be enhanced. However, it is not easy to find such a real inclined plane in the real environment. We proposed a horizontal plane haptic redirection scheme, where users interacting with virtual inclined planes in virtual environments can obtain haptic feelings by using real horizontal planes that are easily available in the real world for redirection mapping. We also designed an integrated solution to locate the real horizontal plane and for haptic redirection based on the Vive Pro headset. Then we measured the angle and size thresholds for horizontal plane haptic redirection as 20° and 88%, respectively, through a user study. Through experiments, we also found that when the degree of redirection exceeded the threshold, the user's operation efficiency would be significantly reduced. In addition, we compared the horizontal plane haptic redirection scheme with the scheme without redirection and the scheme without haptic feedback to demonstrate the validity and necessity of the redirection scheme proposed in this paper.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139472317","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 : 2024-01-16DOI: 10.1109/TOH.2024.3354268
Jungeun Lee;Seungmoon Choi
In this paper, we explore the effects of multimodal haptic feedback combining vibrotactile and electrical muscle stimulation (EMS) on expressing virtual collisions. We first present a wearable multimodal haptic device capable of generating both mechanical vibration and EMS stimuli. The two types of haptic stimulus are combined into a haptic rendering method that conveys improved virtual collision sensations. This multimodal rendering method highlights the strengths of each modality while compensating for mutual weaknesses. The multimodal rendering method is compared in subjective quality with two unimodal methods (vibration only and EMS only) by a user study. Experimental results demonstrate that our multimodal feedback method can elicit more realistic, enjoyable, expressive, and preferable user experiences.
{"title":"Multimodal Haptic Feedback for Virtual Collisions Combining Vibrotactile and Electrical Muscle Stimulation","authors":"Jungeun Lee;Seungmoon Choi","doi":"10.1109/TOH.2024.3354268","DOIUrl":"10.1109/TOH.2024.3354268","url":null,"abstract":"In this paper, we explore the effects of multimodal haptic feedback combining vibrotactile and electrical muscle stimulation (EMS) on expressing virtual collisions. We first present a wearable multimodal haptic device capable of generating both mechanical vibration and EMS stimuli. The two types of haptic stimulus are combined into a haptic rendering method that conveys improved virtual collision sensations. This multimodal rendering method highlights the strengths of each modality while compensating for mutual weaknesses. The multimodal rendering method is compared in subjective quality with two unimodal methods (vibration only and EMS only) by a user study. Experimental results demonstrate that our multimodal feedback method can elicit more realistic, enjoyable, expressive, and preferable user experiences.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139472324","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}
Thin and light vibrators that leverage the inverse piezoelectric effect with a diaphragm mechanism are promising vibrotactile actuators owing to their form factors and high temporal and frequency response. However, generating perceptually sufficient displacement in the low-frequency domain is challenging. This study presents a lever mechanism mounted on a diaphragm vibrator to enhance the vibrotactile intensity of low-frequency vibrotactile stimuli. The lever mechanism is inspired by the tactile contact lens consisting of an array of cylinders held against the skin on a sheet that enhances micro-bump tactile detection. We built an experimental apparatus including our previously developed thin-film diaphragm-type vibrator, which reproduced the common characteristic of piezoelectric vibrators: near-threshold displacement (10 to 20 μm) at low frequency. Experiments demonstrated enhanced vibrotactile intensity at frequencies less than 100 Hz with the lever mechanism. Although the arrangement and material of the mechanism can be improved, our findings can help improve the expressiveness of diaphragm-type vibrators.
{"title":"Lever Mechanism for Diaphragm-Type Vibrators to Enhance Vibrotactile Intensity","authors":"Taku Hachisu;Masayuki Kajiura;Toshihiro Takeshita;Yusuke Takei;Takeshi Kobayashi;Masashi Konyo","doi":"10.1109/TOH.2024.3354253","DOIUrl":"10.1109/TOH.2024.3354253","url":null,"abstract":"Thin and light vibrators that leverage the inverse piezoelectric effect with a diaphragm mechanism are promising vibrotactile actuators owing to their form factors and high temporal and frequency response. However, generating perceptually sufficient displacement in the low-frequency domain is challenging. This study presents a lever mechanism mounted on a diaphragm vibrator to enhance the vibrotactile intensity of low-frequency vibrotactile stimuli. The lever mechanism is inspired by the tactile contact lens consisting of an array of cylinders held against the skin on a sheet that enhances micro-bump tactile detection. We built an experimental apparatus including our previously developed thin-film diaphragm-type vibrator, which reproduced the common characteristic of piezoelectric vibrators: near-threshold displacement (10 to 20 μm) at low frequency. Experiments demonstrated enhanced vibrotactile intensity at frequencies less than 100 Hz with the lever mechanism. Although the arrangement and material of the mechanism can be improved, our findings can help improve the expressiveness of diaphragm-type vibrators.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10400851","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139472320","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 : 2024-01-15DOI: 10.1109/TOH.2024.3353761
Dajin Lee;Gyeore Yun;Seungmoon Choi
Full-body haptic suits, which can provide tactile sensations across the entire body, have been gaining popularity recently. The tightness of a suit to the user's body determines the contact force between the tactile actuators and the body. The contact force is likely to alter the intended perceptual effects, but relatively little is known about the extent of the alteration. Under this context, we present the effects of contact force on vibrotactile perceived intensity on three body parts: dorsal hand, upper arm, and lower back. To this end, we conducted three perceptual magnitude estimation experiments while controlling vibration amplitude, frequency, and contact force. The results show that increasing the contact force generally made the vibration stimuli feel stronger, while the specific behaviors were dependent on the body part and the experimental variables. Finally, we summarize the major findings and provide guidelines regarding contact force adjustment for effective full-body haptic rendering.
{"title":"Effects of Contact Force on Vibrotactile Perceived Intensity Across the Upper Body","authors":"Dajin Lee;Gyeore Yun;Seungmoon Choi","doi":"10.1109/TOH.2024.3353761","DOIUrl":"10.1109/TOH.2024.3353761","url":null,"abstract":"Full-body haptic suits, which can provide tactile sensations across the entire body, have been gaining popularity recently. The tightness of a suit to the user's body determines the contact force between the tactile actuators and the body. The contact force is likely to alter the intended perceptual effects, but relatively little is known about the extent of the alteration. Under this context, we present the effects of contact force on vibrotactile perceived intensity on three body parts: dorsal hand, upper arm, and lower back. To this end, we conducted three perceptual magnitude estimation experiments while controlling vibration amplitude, frequency, and contact force. The results show that increasing the contact force generally made the vibration stimuli feel stronger, while the specific behaviors were dependent on the body part and the experimental variables. Finally, we summarize the major findings and provide guidelines regarding contact force adjustment for effective full-body haptic rendering.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139472314","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 : 2024-01-15DOI: 10.1109/TOH.2024.3353924
Ken Iiyoshi;Shadi Khazaaleh;Ahmed S. Dalaq;Mohammed F. Daqaq;Georgios Korres;Mohamad Eid
Although medical simulators have benefited from the use of haptics and virtual reality (VR) for decades, the former has become the bottleneck in producing a low-cost, compact, and accurate training experience. This is particularly the case for the inferior alveolar nerve block (IANB) procedure in dentistry, which is one of the most difficult motor skills to acquire. As existing works are still oversimplified or overcomplicated for practical deployment, we introduce an origami-based haptic syringe interface for IANB local anesthesia training. By harnessing the versatile mechanical tunability of the Kresling origami pattern, our interface simulated the tactile experience of the plunger while injecting the anesthetic solution. We present the design, development, and characterization process, as well as a preliminary usability study. The force profile generated by the syringe interface is perceptually similar with that of the Carpule syringe. The usability study suggests that the haptic syringe significantly improves the IANB training simulation and its potential to be utilized in several other medical training/simulation applications.
{"title":"Origami-Based Haptic Syringe for Local Anesthesia Simulator","authors":"Ken Iiyoshi;Shadi Khazaaleh;Ahmed S. Dalaq;Mohammed F. Daqaq;Georgios Korres;Mohamad Eid","doi":"10.1109/TOH.2024.3353924","DOIUrl":"10.1109/TOH.2024.3353924","url":null,"abstract":"Although medical simulators have benefited from the use of haptics and virtual reality (VR) for decades, the former has become the bottleneck in producing a low-cost, compact, and accurate training experience. This is particularly the case for the inferior alveolar nerve block (IANB) procedure in dentistry, which is one of the most difficult motor skills to acquire. As existing works are still oversimplified or overcomplicated for practical deployment, we introduce an origami-based haptic syringe interface for IANB local anesthesia training. By harnessing the versatile mechanical tunability of the Kresling origami pattern, our interface simulated the tactile experience of the plunger while injecting the anesthetic solution. We present the design, development, and characterization process, as well as a preliminary usability study. The force profile generated by the syringe interface is perceptually similar with that of the Carpule syringe. The usability study suggests that the haptic syringe significantly improves the IANB training simulation and its potential to be utilized in several other medical training/simulation applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139472327","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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