Pub Date : 2025-06-30DOI: 10.1109/TOH.2025.3584595
Yuri De Pra;Stefano Papetti;Hanna Järveläinen;Alessandro Morassut;Federico Fontana
Despite the robustness and versatility of touchscreens affording haptic rotation, physical knobs remain widely adopted in the control layout of professional machines and appliances. Their low cost, established design, and efficiency in encoding rotations– even when an operator’s attention is focused elsewhere – make them an optimal choice. However, physical knobs are often prone to electro-mechanical damage in settings such as food or cleaning service facilities. To overcome potential consequent safety and productivity issues, we have designed and prototyped a motionless cylindrical device capable of encoding manual rotation. The device tracks finger contact positions on its lateral surface through capacitive sensing, which are then processed by a neural network-based algorithm designed to encode manual rotations in real-time on low-cost embedded hardware. A user test evaluating manual rotation confirmed accuracy in line with a previous experiment conducted on a motionless knob. In parallel, a decrease in precision was observed, possibly as a consequence of the sensing technology and encoding algorithm. Subjective questionnaires assessing specific aspects of the interaction quality with the prototype reinforced previous findings, suggesting that achieving natural and intuitive gestures on a motionless knob requires adaptation of a deeply embodied interaction primitive such as manual rotation.
{"title":"Encoding Manual Rotations on a Motionless Knob","authors":"Yuri De Pra;Stefano Papetti;Hanna Järveläinen;Alessandro Morassut;Federico Fontana","doi":"10.1109/TOH.2025.3584595","DOIUrl":"10.1109/TOH.2025.3584595","url":null,"abstract":"Despite the robustness and versatility of touchscreens affording <italic>haptic rotation</i>, physical knobs remain widely adopted in the control layout of professional machines and appliances. Their low cost, established design, and efficiency in encoding rotations– even when an operator’s attention is focused elsewhere – make them an optimal choice. However, physical knobs are often prone to electro-mechanical damage in settings such as food or cleaning service facilities. To overcome potential consequent safety and productivity issues, we have designed and prototyped a motionless cylindrical device capable of encoding manual rotation. The device tracks finger contact positions on its lateral surface through capacitive sensing, which are then processed by a neural network-based algorithm designed to encode manual rotations in real-time on low-cost embedded hardware. A user test evaluating manual rotation confirmed accuracy in line with a previous experiment conducted on a motionless knob. In parallel, a decrease in precision was observed, possibly as a consequence of the sensing technology and encoding algorithm. Subjective questionnaires assessing specific aspects of the interaction quality with the prototype reinforced previous findings, suggesting that achieving natural and intuitive gestures on a motionless knob requires adaptation of a deeply embodied interaction primitive such as manual rotation.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"689-698"},"PeriodicalIF":2.8,"publicationDate":"2025-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11059819","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144527671","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 : 2025-06-27DOI: 10.1109/TOH.2025.3583736
Ching Hei Cheng;Jonathan Eden;Denny Oetomo;Ying Tan
Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which is used within natural proprioception mechanisms, presents a promising method for conveying proprioceptive information. To better understand the impact of interference on skin stretch perception and to provide insights into how to best balance between perception performance and the workload required for its understanding, we conducted a user study with 30 participants that evaluated the effect of two simultaneous skin stretches on the user’s ability to perceive changes in skin stretch and the associated perceived workload. We observed that when participants experience simultaneous skin stretch stimuli, a masking effect occurs which deteriorates perception performance in the collocated skin stretch configurations without changing the perception of workload. These findings imply that multi-channel skin stretch designs should avoid locating modules in close proximity due to the lower sensitivity in perception.
{"title":"Exploring Interference Between Concurrent Skin Stretches","authors":"Ching Hei Cheng;Jonathan Eden;Denny Oetomo;Ying Tan","doi":"10.1109/TOH.2025.3583736","DOIUrl":"10.1109/TOH.2025.3583736","url":null,"abstract":"Proprioception is essential for coordinating human movements and enhancing the performance of assistive robotic devices. Skin stretch feedback, which is used within natural proprioception mechanisms, presents a promising method for conveying proprioceptive information. To better understand the impact of interference on skin stretch perception and to provide insights into how to best balance between perception performance and the workload required for its understanding, we conducted a user study with 30 participants that evaluated the effect of two simultaneous skin stretches on the user’s ability to perceive changes in skin stretch and the associated perceived workload. We observed that when participants experience simultaneous skin stretch stimuli, a masking effect occurs which deteriorates perception performance in the collocated skin stretch configurations without changing the perception of workload. These findings imply that multi-channel skin stretch designs should avoid locating modules in close proximity due to the lower sensitivity in perception.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"803-808"},"PeriodicalIF":2.8,"publicationDate":"2025-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144511819","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 : 2025-06-27DOI: 10.1109/TOH.2025.3583962
Daniel E. Genaro;Laura C. Marrelli;Erika E. Howe;Emma B. Plater;Michael Apollinaro;John Zettel;Leah R. Bent
Amputation of a lower limb not only affects mobility but also interferes with sensory feedback, leading to an elevated risk of falls among individuals living with amputation. Sensory substitution, achieved through tactile displays embedded in transfemoral prosthetic sockets, presents a promising non-invasive solution to provide artificial sensation to users. However, for this approach to be effective, users must accurately perceive distinct combinations of vibrations, a capacity limited by their two-point discrimination ability. This study examined whether spacing two vibrotactile stimuli within the 20-30 mm range, on the thigh, enabled the perception of distinct points and whether vibration frequency affected spatial acuity. We defined the ability to perceive two distinct points as achieving at least a 75% accuracy in responses, and based on this criterion, we determined that the minimum distance required for two-point discrimination lies between 25 mm and 30 mm. Notably, our study revealed that spatial acuity was not altered when vibrating at either low (30 Hz) or high (150 Hz) frequencies, provided the vibrations were at the perceptual threshold. Lastly, our findings consistently favoured stimuli that were spaced out vertically over horizontal ones. These findings contribute to the improvement of tactile displays intended for sensory substitution in transfemoral prostheses.
{"title":"Optimizing Vibrotactile Feedback for Sensory Substitution in the Thigh: Spatial Acuity and Frequency Characteristics","authors":"Daniel E. Genaro;Laura C. Marrelli;Erika E. Howe;Emma B. Plater;Michael Apollinaro;John Zettel;Leah R. Bent","doi":"10.1109/TOH.2025.3583962","DOIUrl":"10.1109/TOH.2025.3583962","url":null,"abstract":"Amputation of a lower limb not only affects mobility but also interferes with sensory feedback, leading to an elevated risk of falls among individuals living with amputation. Sensory substitution, achieved through tactile displays embedded in transfemoral prosthetic sockets, presents a promising non-invasive solution to provide artificial sensation to users. However, for this approach to be effective, users must accurately perceive distinct combinations of vibrations, a capacity limited by their two-point discrimination ability. This study examined whether spacing two vibrotactile stimuli within the 20-30 mm range, on the thigh, enabled the perception of distinct points and whether vibration frequency affected spatial acuity. We defined the ability to perceive two distinct points as achieving at least a 75% accuracy in responses, and based on this criterion, we determined that the minimum distance required for two-point discrimination lies between 25 mm and 30 mm. Notably, our study revealed that spatial acuity was not altered when vibrating at either low (30 Hz) or high (150 Hz) frequencies, provided the vibrations were at the perceptual threshold. Lastly, our findings consistently favoured stimuli that were spaced out vertically over horizontal ones. These findings contribute to the improvement of tactile displays intended for sensory substitution in transfemoral prostheses.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"652-662"},"PeriodicalIF":2.8,"publicationDate":"2025-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144511820","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 : 2025-06-23DOI: 10.1109/TOH.2025.3582077
Didem Katircilar;Roland Bennewitz;Knut Drewing
Individuals with more elastic, more hydrated or smaller fingers usually show better performance in several passive touch tasks. In active touch, people use different exploratory procedures when evaluating object properties, and tune their exploratory parameters. For example, they indent stimuli to assess softness and optimize their peak forces to get relevant information. In this study, we aim to understand whether finger pad size, elasticity and hydration affect individuals’ force-tuning and discrimination performance in active softness perception. Participants performed two softness tasks in two different sessions. In one session, hyaluronic acid was applied to their finger pads to soften it, in the other they received no treatment. We assessed individual elasticity and hydration values with cutometer and corneometer in each session, and measured finger pad size in three dimension by caliper. In each task, two pairs of stimuli were presented to the participants (Young’s Modulus: 41.5 vs. 45.0; 28.7 vs. 31.3 kPa) who chose the softer stimulus. In the restricted task, they could apply force only up to 2 Newton, whereas there was no force limit in the unconstrained task. We found that participants with smaller finger pad size exerted less force in the restricted task and participants with more hydrated and elastic fingers exerted less force in the unconstrained task. The force-tuning disappeared in the unconstrained task when treatment was applied. These results indicate that people employ strategies according to their finger parameters and to the availability of cues whereas adaptation to treatment is likely to need longer practice.
手指更有弹性、水分更充足或手指更小的人通常在一些被动触摸任务中表现得更好。在主动触摸中，人们在评估物体属性时使用不同的探索程序，并调整他们的探索参数。例如，他们缩进刺激来评估柔软度，并优化他们的峰值力以获得相关信息。在本研究中，我们旨在了解指垫大小、弹性和水合作用是否影响个体在主动柔软感知中的力调谐和辨别表现。参与者在两个不同的环节中执行两个柔软任务。在一组中，研究人员将透明质酸涂在他们的指垫上以软化它，而在另一组中，他们没有接受任何治疗。在每个疗程中，我们用量尺和角质尺评估个体的弹性和水合值，用卡尺测量手指垫的三维尺寸。在每个任务中，向参与者呈现两对刺激(杨氏模量：41.5 vs. 45.0；28.7对31.3 kPa)。在受限任务中，他们只能施加2牛顿的力，而在无约束任务中则没有力的限制。我们发现手指垫尺寸较小的参与者在受限任务中施加的力较小，而手指含水量和弹性较大的参与者在无约束任务中施加的力较小。在无约束任务中，施加处理后力调谐消失。这些结果表明，人们根据自己的手指参数和线索的可用性使用策略，而适应治疗可能需要更长的练习。
{"title":"A Role for Finger Properties in Exploration and Perception of Softness","authors":"Didem Katircilar;Roland Bennewitz;Knut Drewing","doi":"10.1109/TOH.2025.3582077","DOIUrl":"10.1109/TOH.2025.3582077","url":null,"abstract":"Individuals with more elastic, more hydrated or smaller fingers usually show better performance in several passive touch tasks. In active touch, people use different exploratory procedures when evaluating object properties, and tune their exploratory parameters. For example, they indent stimuli to assess softness and optimize their peak forces to get relevant information. In this study, we aim to understand whether finger pad size, elasticity and hydration affect individuals’ force-tuning and discrimination performance in active softness perception. Participants performed two softness tasks in two different sessions. In one session, hyaluronic acid was applied to their finger pads to soften it, in the other they received no treatment. We assessed individual elasticity and hydration values with cutometer and corneometer in each session, and measured finger pad size in three dimension by caliper. In each task, two pairs of stimuli were presented to the participants (Young’s Modulus: 41.5 vs. 45.0; 28.7 vs. 31.3 kPa) who chose the softer stimulus. In the restricted task, they could apply force only up to 2 Newton, whereas there was no force limit in the unconstrained task. We found that participants with smaller finger pad size exerted less force in the restricted task and participants with more hydrated and elastic fingers exerted less force in the unconstrained task. The force-tuning disappeared in the unconstrained task when treatment was applied. These results indicate that people employ strategies according to their finger parameters and to the availability of cues whereas adaptation to treatment is likely to need longer practice.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"679-688"},"PeriodicalIF":2.8,"publicationDate":"2025-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11045995","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144474998","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}
Vibrotactile feedback is a common target for wearables, often making use of illusions like funneling, which produces a phantom sensation in-between actuators. However, prior work has assumed funneling produces a point sensation rather than a region across the body. To better understand how people experience spatial vibrotactile feedback, we approach this question with a qualitative study. We placed vibrotactile actuators at different locations on the back, asking participants to draw what they experienced on a map of an individual’s back, and conducted open- and closed-coding analysis. Results show a range of experiences more diverse than previously described. For example, sometimes a phantom sensation was perceived in-between the actuators (“funneling”), while other times participants also indicated a region including one or both actuators (we call this “fusing”). We also document masking effects and conduction across bone and soft tissue. These findings can serve as a taxonomy guiding new research for understanding vibrotactile perception as a total experience, and provide a visual vocabulary documenting felt vibrations on the skin.
{"title":"Beyond Funneling: Subjective Experiences of Spatial Vibrotactile Feedback on the Back","authors":"Diana Khater;Louis-Pierre Guidetti;Stuart Mansbridge;Oliver Schneider","doi":"10.1109/TOH.2025.3580297","DOIUrl":"10.1109/TOH.2025.3580297","url":null,"abstract":"Vibrotactile feedback is a common target for wearables, often making use of illusions like funneling, which produces a phantom sensation in-between actuators. However, prior work has assumed funneling produces a point sensation rather than a region across the body. To better understand how people experience spatial vibrotactile feedback, we approach this question with a qualitative study. We placed vibrotactile actuators at different locations on the back, asking participants to draw what they experienced on a map of an individual’s back, and conducted open- and closed-coding analysis. Results show a range of experiences more diverse than previously described. For example, sometimes a phantom sensation was perceived in-between the actuators (“funneling”), while other times participants also indicated a region including one or both actuators (we call this “fusing”). We also document masking effects and conduction across bone and soft tissue. These findings can serve as a taxonomy guiding new research for understanding vibrotactile perception as a total experience, and provide a visual vocabulary documenting felt vibrations on the skin.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"699-709"},"PeriodicalIF":2.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144336485","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 : 2025-06-20DOI: 10.1109/TOH.2025.3581779
Mine Sarac
Tactile haptic devices are often designed to render meaningful, complex, and realistic touch-based information on users’ skin. While fingertips and hands are the most preferred body locations to render haptic feedback, recent trends allow such feedback to be extended to alternative body locations (e.g., wrist, arm, torso, foot) for various scenarios due to reasons such as wearability and needs of the application. In this paper, I address the new concept of haptic relocation. It refers to scenarios in which the expected feedback is related to the fingertips but rendered on a different body location instead – e.g., contact forces registered by two robotic fingers during teleoperation rendered to the users’ wrist instead of the fingers. I investigated the design choices of wearable haptic devices for haptic relocation concerning different body locations, targeted applications, and actuator selection. I discuss approaches and design choices from the literature by speculating on the possible reasons, and conclude the paper by highlighting some challenges and issues to be mindful of in the future. This paper will guide engineers and researchers in searching for alternative haptic rendering solutions – especially when fingers and hands are not available for haptic interaction.
{"title":"Haptic Relocation Away From the Fingertip: Where, Why, and How","authors":"Mine Sarac","doi":"10.1109/TOH.2025.3581779","DOIUrl":"10.1109/TOH.2025.3581779","url":null,"abstract":"Tactile haptic devices are often designed to render meaningful, complex, and realistic touch-based information on users’ skin. While fingertips and hands are the most preferred body locations to render haptic feedback, recent trends allow such feedback to be extended to alternative body locations (e.g., wrist, arm, torso, foot) for various scenarios due to reasons such as wearability and needs of the application. In this paper, I address the new concept of <italic>haptic relocation</i>. It refers to scenarios in which the expected feedback is related to the fingertips but rendered on a different body location instead – e.g., contact forces registered by two robotic fingers during teleoperation rendered to the users’ wrist instead of the fingers. I investigated the design choices of wearable haptic devices for haptic relocation concerning different body locations, targeted applications, and actuator selection. I discuss approaches and design choices from the literature by speculating on the possible reasons, and conclude the paper by highlighting some challenges and issues to be mindful of in the future. This paper will guide engineers and researchers in searching for alternative haptic rendering solutions – especially when fingers and hands are not available for haptic interaction.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"470-481"},"PeriodicalIF":2.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144336486","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 : 2025-06-19DOI: 10.1109/TOH.2025.3581196
Dong-Geun Kim;Seungmoon Choi
This study investigates methods to enhance the perceived intensity of mid-air ultrasonic tactile stimuli through the perceptual phenomenon of tactile enhancement. By presenting a brief vibrotactile stimulus to the wrist before stimulating the palm with a mid-air ultrasonic stimulus of the same frequency, we demonstrated that the perceived intensity could be increased by up to 1.7 times. A second user study further examined the effectiveness of this method, revealing that recognition of number-patterned mid-air stimuli was significantly improved by 7.8% with the presence of wrist vibration. These findings offer promising directions for improving the usability of mid-air haptic devices using common wearable technology.
{"title":"Tactile Enhancement of Mid-Air Ultrasonic Stimulation by Wrist Vibration: Perceived Intensity and Pattern Recognition","authors":"Dong-Geun Kim;Seungmoon Choi","doi":"10.1109/TOH.2025.3581196","DOIUrl":"10.1109/TOH.2025.3581196","url":null,"abstract":"This study investigates methods to enhance the perceived intensity of mid-air ultrasonic tactile stimuli through the perceptual phenomenon of tactile enhancement. By presenting a brief vibrotactile stimulus to the wrist before stimulating the palm with a mid-air ultrasonic stimulus of the same frequency, we demonstrated that the perceived intensity could be increased by up to 1.7 times. A second user study further examined the effectiveness of this method, revealing that recognition of number-patterned mid-air stimuli was significantly improved by 7.8% with the presence of wrist vibration. These findings offer promising directions for improving the usability of mid-air haptic devices using common wearable technology.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"603-614"},"PeriodicalIF":2.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144333021","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 : 2025-06-19DOI: 10.1109/TOH.2025.3581009
MacKenzie Harnett;Paras Kumar;Rebecca F. Friesen
Friction modulation allows for a range of different tactile sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental interactions such as tracing the edge of a line or shape; an edge consists of straddling two different states, yet friction modulating screens traditionally apply only one friction force at a time to the whole finger. In order to expand the range of sensations rendered via friction modulation, in this paper we explore the possibility of applying spatial feedback on the fingerpad via differing friction forces on flat touchscreens. To this end, we fabricated six distinct flat surfaces with different spatial distributions of friction and calculated deformation of the fingerpad skin in response to motion along these physical samples. In our study, friction changes that occur sequentially along the sliding direction introduced little transitory spatial warping such as compression or stretching to the fingerpad, suggesting limited perceptual differences in comparison to ‘classic’ friction modulation. Distributing friction across the direction of motion, however, showed pattern-dependent shearing of the fingertip skin, opening avenues for new sensations and illusions heretofore unachievable on flat touchscreen surfaces.
{"title":"Effects of Distributed Friction During Sliding Touch","authors":"MacKenzie Harnett;Paras Kumar;Rebecca F. Friesen","doi":"10.1109/TOH.2025.3581009","DOIUrl":"10.1109/TOH.2025.3581009","url":null,"abstract":"Friction modulation allows for a range of different tactile sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental interactions such as tracing the edge of a line or shape; an edge consists of straddling two different states, yet friction modulating screens traditionally apply only one friction force at a time to the whole finger. In order to expand the range of sensations rendered via friction modulation, in this paper we explore the possibility of applying spatial feedback on the fingerpad via differing friction forces on flat touchscreens. To this end, we fabricated six distinct flat surfaces with different spatial distributions of friction and calculated deformation of the fingerpad skin in response to motion along these physical samples. In our study, friction changes that occur sequentially along the sliding direction introduced little transitory spatial warping such as compression or stretching to the fingerpad, suggesting limited perceptual differences in comparison to ‘classic’ friction modulation. Distributing friction across the direction of motion, however, showed pattern-dependent shearing of the fingertip skin, opening avenues for new sensations and illusions heretofore unachievable on flat touchscreen surfaces.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 3","pages":"796-802"},"PeriodicalIF":2.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144333019","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 : 2025-06-19DOI: 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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：