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。
{"title":"Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality","authors":"Erwan Normand;Claudio Pacchierotti;Eric Marchand;Maud Marchal","doi":"10.1109/TOH.2024.3358910","DOIUrl":"10.1109/TOH.2024.3358910","url":null,"abstract":"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.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"277-291"},"PeriodicalIF":2.4,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139567097","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 : 2024-01-25DOI: 10.1109/TOH.2024.3357751
Qian Wu;Jianguang Li
It is currently unclear how sharpness discrimination ability is distributed across a wide range of edge sharpness and the effect of contact area on haptic perception. We 3D printed triangular prisms with various edge sharpness and half-edge widths in the full-scale range and conducted 2AFC tasks to gain the haptic threshold distribution. Results show that the distribution curves of the sharpness threshold and its contact area have a similar inflection point at 115 $^circ$ , implying a boundary between medium-low and high stimuli. It is also found that Weber fractions in the medium stimulus range follow Weber's Law and are consistent with previous studies but lower than the mean of Weber fractions in the high stimulus range. Besides, there is no significant difference in upper and lower thresholds in the medium-low stimulus range but a significant difference in the high stimulus range with the higher upper threshold. Variations in contact area do not affect sharpness discrimination ability when the half-edge width exceeds 2 mm. However, decreasing the half-edge width from 2 mm to 1 mm significantly reduces haptic sensitivity. Our findings offer preliminary evidence contributing to understanding haptic perception in edge sharpness discrimination, encompassing the properties of objects and object-individual interfaces.
{"title":"Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area","authors":"Qian Wu;Jianguang Li","doi":"10.1109/TOH.2024.3357751","DOIUrl":"10.1109/TOH.2024.3357751","url":null,"abstract":"It is currently unclear how sharpness discrimination ability is distributed across a wide range of edge sharpness and the effect of contact area on haptic perception. We 3D printed triangular prisms with various edge sharpness and half-edge widths in the full-scale range and conducted 2AFC tasks to gain the haptic threshold distribution. Results show that the distribution curves of the sharpness threshold and its contact area have a similar inflection point at 115\u0000<inline-formula><tex-math>$^circ$</tex-math></inline-formula>\u0000, implying a boundary between medium-low and high stimuli. It is also found that Weber fractions in the medium stimulus range follow Weber's Law and are consistent with previous studies but lower than the mean of Weber fractions in the high stimulus range. Besides, there is no significant difference in upper and lower thresholds in the medium-low stimulus range but a significant difference in the high stimulus range with the higher upper threshold. Variations in contact area do not affect sharpness discrimination ability when the half-edge width exceeds 2 mm. However, decreasing the half-edge width from 2 mm to 1 mm significantly reduces haptic sensitivity. Our findings offer preliminary evidence contributing to understanding haptic perception in edge sharpness discrimination, encompassing the properties of objects and object-individual interfaces.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"451-460"},"PeriodicalIF":2.4,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139563835","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}
Enhancing human user performance in some complex task is an important research question in many domains from skilled manufacturing to rehabilitation and surgical training. Many examples in the literature explore the effects of both haptic assistance or guidance to complete a task, as well as haptic hindrance to temporarily increase task difficulty for the ultimate goal of faster learning. Studies also suggest adaptively changing guidance based on expertise may be most effective. However, to our knowledge, there has not yet been a conclusive study evaluating these enhancement modes in a systematic experiment. In this article, we evaluate learning outcomes for 24 human subjects in a randomized control trial performing a Fitt's law reaching task under various haptic feedback conditions including: no haptics, assistive haptics, resistive haptics, and adaptively changing haptics tied to current performance measures. Subjects each performed 400 trials total and this paper reports results for 40 pre-test and 40 post-test trials. While most conditions did show improvements in performance, we found statistically significant results indicating that our adaptive haptic feedback condition leads to faster and more effective learning as evidenced by metrics of movement time, overshoot, performance index, and speed when compared to the other groups.
{"title":"Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task","authors":"Drake Rowland;Benjamin Davis;Taylor Higgins;Ann Majewicz Fey","doi":"10.1109/TOH.2024.3358188","DOIUrl":"10.1109/TOH.2024.3358188","url":null,"abstract":"Enhancing human user performance in some complex task is an important research question in many domains from skilled manufacturing to rehabilitation and surgical training. Many examples in the literature explore the effects of both haptic assistance or guidance to complete a task, as well as haptic hindrance to temporarily increase task difficulty for the ultimate goal of faster learning. Studies also suggest adaptively changing guidance based on expertise may be most effective. However, to our knowledge, there has not yet been a conclusive study evaluating these enhancement modes in a systematic experiment. In this article, we evaluate learning outcomes for 24 human subjects in a randomized control trial performing a Fitt's law reaching task under various haptic feedback conditions including: no haptics, assistive haptics, resistive haptics, and adaptively changing haptics tied to current performance measures. Subjects each performed 400 trials total and this paper reports results for 40 pre-test and 40 post-test trials. While most conditions did show improvements in performance, we found statistically significant results indicating that our adaptive haptic feedback condition leads to faster and more effective learning as evidenced by metrics of movement time, overshoot, performance index, and speed when compared to the other groups.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"92-99"},"PeriodicalIF":2.9,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139563869","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}
Many recent games, such as racing and flight games, open their game telemetry data to users by storing them in the local memory. Such telemetry data can provide useful information for haptic rendering, and this advantage has been exploited by the industry. This approach applies to any applications that export telemetry data in run time. The haptic rendering module operates as a separate process that accesses the telemetry data in parallel with the application. It is simple, efficient, and modular while retaining the application intact. We examine the approach's viability for user experience improvement by developing three telemetry-based haptic rendering algorithms for car racing games. They express the car engine response, collisions with external objects, and the road surface texture, respectively. Building a haptics-enabled driving platform, we conducted a user study comparing gaming experiences between our telemetry-based algorithms and conventional sound-to-tactile conversion algorithms. The results showed that the telemetry-based effects elicited better experiences than the sound-based effects.
{"title":"Telemetry-Based Haptic Rendering for Racing Game Experience Improvement","authors":"Jiwan Lee;Junwoo Kim;Jeonggoo Kang;Eunsoo Jo;Dong Chul Park;Seungmoon Choi","doi":"10.1109/TOH.2024.3357885","DOIUrl":"10.1109/TOH.2024.3357885","url":null,"abstract":"Many recent games, such as racing and flight games, open their game telemetry data to users by storing them in the local memory. Such telemetry data can provide useful information for haptic rendering, and this advantage has been exploited by the industry. This approach applies to any applications that export telemetry data in run time. The haptic rendering module operates as a separate process that accesses the telemetry data in parallel with the application. It is simple, efficient, and modular while retaining the application intact. We examine the approach's viability for user experience improvement by developing three telemetry-based haptic rendering algorithms for car racing games. They express the car engine response, collisions with external objects, and the road surface texture, respectively. Building a haptics-enabled driving platform, we conducted a user study comparing gaming experiences between our telemetry-based algorithms and conventional sound-to-tactile conversion algorithms. The results showed that the telemetry-based effects elicited better experiences than the sound-based effects.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"72-79"},"PeriodicalIF":2.9,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139546259","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 : 2024-01-24DOI: 10.1109/TOH.2024.3357806
Mirai Azechi;Shogo Okamoto
Virtual tactile bumps and dents are presented by controlling frictional forces on a surface tactile display, a flat touch screen with tactile feedback functions. This technology enables users to touch and feel three-dimensional objects. The resistive force against a sliding finger is increased and then decreased compared to a base level to present a bump. The order of increase and decrease is inverted for a dent. Thus, the difference between bump and dent presentations lies in the change order of the resistive force. However, bumps and dents are not simply opposite when investigating psychophysical functions with only lateral force cues available, without height and depth information. The results demonstrate that bumps are more easily detected with high surface gradients or resultant force changes and small widths. In contrast, these parameters do not influence the detection of dents among different participants. These findings contribute to a deeper understanding of tactile perception of surface shapes.
{"title":"Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues","authors":"Mirai Azechi;Shogo Okamoto","doi":"10.1109/TOH.2024.3357806","DOIUrl":"10.1109/TOH.2024.3357806","url":null,"abstract":"Virtual tactile bumps and dents are presented by controlling frictional forces on a surface tactile display, a flat touch screen with tactile feedback functions. This technology enables users to touch and feel three-dimensional objects. The resistive force against a sliding finger is increased and then decreased compared to a base level to present a bump. The order of increase and decrease is inverted for a dent. Thus, the difference between bump and dent presentations lies in the change order of the resistive force. However, bumps and dents are not simply opposite when investigating psychophysical functions with only lateral force cues available, without height and depth information. The results demonstrate that bumps are more easily detected with high surface gradients or resultant force changes and small widths. In contrast, these parameters do not influence the detection of dents among different participants. These findings contribute to a deeper understanding of tactile perception of surface shapes.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"52-57"},"PeriodicalIF":2.9,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139546255","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 : 2024-01-23DOI: 10.1109/TOH.2024.3357574
Gen Ohara;Daiki Kikuchi;Masashi Konyo;Satoshi Tadokoro
This paper proposes a novel concept of “stereohaptic vibration,” which employs distributed vibration to localize vibration sources outside the body. Inspired by amplitude panning, a stereophonic sound display technique, we developed a method to localize a virtual vibration source (VVS) by polarizing the perceived intensity of multiple vibration stimuli to a specific orientation. Considering the perceptual characteristics of high-frequency vibration, the perceived intensity of the VVS was allocated to multiple vibrators according to the distance and direction of the target. The velocity discrimination performance was confirmed by utilizing four stimuli around the arm and one vibration stimulus to the palm to localize the movement of a VVS throughout the arm. Discrimination experiments of the trajectory of outgoing objects with a single arm and dual arms revealed that our approach could localize in three dimensions, even outside the body. The proposed technology for localizing external virtual vibration sources is expected to enhance the virtual reality experience.
{"title":"Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms","authors":"Gen Ohara;Daiki Kikuchi;Masashi Konyo;Satoshi Tadokoro","doi":"10.1109/TOH.2024.3357574","DOIUrl":"10.1109/TOH.2024.3357574","url":null,"abstract":"This paper proposes a novel concept of “stereohaptic vibration,” which employs distributed vibration to localize vibration sources outside the body. Inspired by amplitude panning, a stereophonic sound display technique, we developed a method to localize a virtual vibration source (VVS) by polarizing the perceived intensity of multiple vibration stimuli to a specific orientation. Considering the perceptual characteristics of high-frequency vibration, the perceived intensity of the VVS was allocated to multiple vibrators according to the distance and direction of the target. The velocity discrimination performance was confirmed by utilizing four stimuli around the arm and one vibration stimulus to the palm to localize the movement of a VVS throughout the arm. Discrimination experiments of the trajectory of outgoing objects with a single arm and dual arms revealed that our approach could localize in three dimensions, even outside the body. The proposed technology for localizing external virtual vibration sources is expected to enhance the virtual reality experience.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"86-91"},"PeriodicalIF":2.9,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139540810","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}
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":"17 1","pages":"66-71"},"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":"17 1","pages":"45-51"},"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":"17 1","pages":"58-65"},"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":"17 3","pages":"441-450"},"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}
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