Pub Date : 2024-01-14DOI: 10.48550/arXiv.2401.07211
Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, S. Kodali, Allison M. Okamura, Cara M. Nunez
Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and the 128 Hz tuning fork, have poor repeatability and resolution. Long term, we aim to provide a repeatable, high-resolution testing platform that can be used to assess vibrotactile perception through smartphones without the need for an experimenter to be present to conduct the test. We present a smartphone-based vibration perception measurement platform and compare its performance to measurements from standard monofilament and tuning fork tests. We conducted a user study with 36 healthy adults in which we tested each tool on the hand, wrist, and foot, to assess how well our smartphone-based vibration perception thresholds (VPTs) detect known trends obtained from standard tests. The smartphone platform detected statistically significant changes in VPT between the index finger and foot and also between the feet of younger adults and older adults. Our smartphone-based VPT had a moderate correlation to tuning fork-based VPT. Our overarching objective is to develop an accessible smartphone-based platform that can eventually be used to measure disease progression and regression.
{"title":"A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites","authors":"Rachel A. G. Adenekan, Alejandrina Gonzalez Reyes, Kyle T. Yoshida, S. Kodali, Allison M. Okamura, Cara M. Nunez","doi":"10.48550/arXiv.2401.07211","DOIUrl":"https://doi.org/10.48550/arXiv.2401.07211","url":null,"abstract":"Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and the 128 Hz tuning fork, have poor repeatability and resolution. Long term, we aim to provide a repeatable, high-resolution testing platform that can be used to assess vibrotactile perception through smartphones without the need for an experimenter to be present to conduct the test. We present a smartphone-based vibration perception measurement platform and compare its performance to measurements from standard monofilament and tuning fork tests. We conducted a user study with 36 healthy adults in which we tested each tool on the hand, wrist, and foot, to assess how well our smartphone-based vibration perception thresholds (VPTs) detect known trends obtained from standard tests. The smartphone platform detected statistically significant changes in VPT between the index finger and foot and also between the feet of younger adults and older adults. Our smartphone-based VPT had a moderate correlation to tuning fork-based VPT. Our overarching objective is to develop an accessible smartphone-based platform that can eventually be used to measure disease progression and regression.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140508658","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 : 2024-01-10DOI: 10.1109/TOH.2024.3352042
Yusuke Ujitoko, Yuko Takenaka, Koichi Hirota
While the relative motion between the skin and objects in contact with it is essential to everyday tactile experiences, our understanding of how tactile motion is perceived via human tactile function is limited. Previous studies have explored the effect of normal force on speed perception under conditions where multiple motion cues on the skin (spatiotemporal cue, tangential skin deformation cue, and slip-induced vibration cue) were integrated. However, the effect of the normal force on speed perception in terms of each motion cue remains unclear since the multiple motion cues have not been adequately separated in the previously reported experiments. In this study, we aim to elucidate the effect of normal force in situations where the speed perception of tactile motion is based solely on a spatiotemporal cue. We developed a pin-array display which allowed us to vary the intensity of the normal force without causing tangential forces or slip-induced vibrations. Using the display, we conducted two psychophysical experiments. In Experiment 1, we found that the speed of the object was perceived to be 1.12-1.14 times faster when the intensity of the normal force was doubled. In Experiment 2, we did not observe significant differences in the discriminability of tactile speed caused by differences in normal force intensity. Our experimental results are of scientific significance and offer insights for engineering applications when using haptic displays that can only provide spatiotemporal cues represented by normal forces.
{"title":"Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue.","authors":"Yusuke Ujitoko, Yuko Takenaka, Koichi Hirota","doi":"10.1109/TOH.2024.3352042","DOIUrl":"https://doi.org/10.1109/TOH.2024.3352042","url":null,"abstract":"<p><p>While the relative motion between the skin and objects in contact with it is essential to everyday tactile experiences, our understanding of how tactile motion is perceived via human tactile function is limited. Previous studies have explored the effect of normal force on speed perception under conditions where multiple motion cues on the skin (spatiotemporal cue, tangential skin deformation cue, and slip-induced vibration cue) were integrated. However, the effect of the normal force on speed perception in terms of each motion cue remains unclear since the multiple motion cues have not been adequately separated in the previously reported experiments. In this study, we aim to elucidate the effect of normal force in situations where the speed perception of tactile motion is based solely on a spatiotemporal cue. We developed a pin-array display which allowed us to vary the intensity of the normal force without causing tangential forces or slip-induced vibrations. Using the display, we conducted two psychophysical experiments. In Experiment 1, we found that the speed of the object was perceived to be 1.12-1.14 times faster when the intensity of the normal force was doubled. In Experiment 2, we did not observe significant differences in the discriminability of tactile speed caused by differences in normal force intensity. Our experimental results are of scientific significance and offer insights for engineering applications when using haptic displays that can only provide spatiotemporal cues represented by normal forces.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139416887","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 : 2024-01-08DOI: 10.1109/TOH.2024.3350929
Bingjian Huang;Paul H. Dietz;Daniel Wigdor
Vibrotactile devices are commonly used in applications for sensory substitution or to provide feedback in virtual reality. An important aspect of vibrotactile perception is spatial acuity, which determines the resolutions of vibrotactile displays on the skin. However, the complex vibration characteristics of vibrotactile actuators make it challenging for researchers to reference and compare previous study results. This is because the effects of typical characteristics, such as intensity and frequency, are not well understood. In this study, we investigated the effects of intensity and frequency on vibrotactile spatial acuity. Using Linear Resonant Actuators (LRAs), we conducted relative point localization experiments to measure spatial acuity under different conditions. In the first experiment, we found that intensity had a significant effect on spatial acuity, with higher intensity leading to better acuity. In the second experiment, using a carefully designed intensity calibration procedure, we did not find a significant effect of frequency on spatial acuity. These findings provide a better understanding of vibrotactile spatial acuity, allow for comparisons to previous research, and provide insights into the design of future tactile devices.
{"title":"Investigating the Effects of Intensity and Frequency on Vibrotactile Spatial Acuity","authors":"Bingjian Huang;Paul H. Dietz;Daniel Wigdor","doi":"10.1109/TOH.2024.3350929","DOIUrl":"10.1109/TOH.2024.3350929","url":null,"abstract":"Vibrotactile devices are commonly used in applications for sensory substitution or to provide feedback in virtual reality. An important aspect of vibrotactile perception is spatial acuity, which determines the resolutions of vibrotactile displays on the skin. However, the complex vibration characteristics of vibrotactile actuators make it challenging for researchers to reference and compare previous study results. This is because the effects of typical characteristics, such as intensity and frequency, are not well understood. In this study, we investigated the effects of intensity and frequency on vibrotactile spatial acuity. Using Linear Resonant Actuators (LRAs), we conducted relative point localization experiments to measure spatial acuity under different conditions. In the first experiment, we found that intensity had a significant effect on spatial acuity, with higher intensity leading to better acuity. In the second experiment, using a carefully designed intensity calibration procedure, we did not find a significant effect of frequency on spatial acuity. These findings provide a better understanding of vibrotactile spatial acuity, allow for comparisons to previous research, and provide insights into the design of future tactile devices.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139402627","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 : 2024-01-05DOI: 10.1109/TOH.2024.3350128
Yousi A. Oquendo;Margaret M. Coad;Sherry M. Wren;Thomas S. Lendvay;Ilana Nisky;Anthony M. Jarc;Allison M. Okamura;Zonghe Chua
Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps trainees learn to perform tasks with greater speed and accuracy. We hypothesized that training in a force field that pushes the user away from a desired path would improve their performance on a virtual reality ring-on-wire task. Thirty-eight surgical novices trained under a no-force, guidance, or error-amplifying force field over five days. Completion time, translational and rotational path error, and combined error-time were evaluated under no force field on the final day. The groups significantly differed in combined error-time, with the guidance group performing the worst. Error-amplifying field participants did not plateau in their performance during training, suggesting that learning was still ongoing. Guidance field participants had the worst performance on the final day, confirming the guidance hypothesis. Observed trends also suggested that participants who had high initial path error benefited more from guidance. Error-amplifying and error-reducing haptic training for robot-assisted telesurgery benefits trainees of different abilities differently, with our results indicating that participants with high initial combined error-time benefited more from guidance and error-amplifying force field training.
{"title":"Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment","authors":"Yousi A. Oquendo;Margaret M. Coad;Sherry M. Wren;Thomas S. Lendvay;Ilana Nisky;Anthony M. Jarc;Allison M. Okamura;Zonghe Chua","doi":"10.1109/TOH.2024.3350128","DOIUrl":"10.1109/TOH.2024.3350128","url":null,"abstract":"Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps trainees learn to perform tasks with greater speed and accuracy. We hypothesized that training in a force field that pushes the user away from a desired path would improve their performance on a virtual reality ring-on-wire task. Thirty-eight surgical novices trained under a no-force, guidance, or error-amplifying force field over five days. Completion time, translational and rotational path error, and combined error-time were evaluated under no force field on the final day. The groups significantly differed in combined error-time, with the guidance group performing the worst. Error-amplifying field participants did not plateau in their performance during training, suggesting that learning was still ongoing. Guidance field participants had the worst performance on the final day, confirming the guidance hypothesis. Observed trends also suggested that participants who had high initial path error benefited more from guidance. Error-amplifying and error-reducing haptic training for robot-assisted telesurgery benefits trainees of different abilities differently, with our results indicating that participants with high initial combined error-time benefited more from guidance and error-amplifying force field training.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139402626","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}
This study aims to represent fine texture differences in pencil hardness using intensity segment modulation (ISM), a sensory equivalent conversion method of vibration from high to low frequencies. This method enables the presentation of delicate tactile sensations even with small transducers. We integrated this approach in the world's thinnest ultra-thin PZT-MEMS vibrator with a stylus-type device. The vibration waveforms of four types of pencil hardness were captured under the same conditions, and the differences in the frequency components were confirmed. We compared the fine texture feelings under raw signal, ISM, and ISM below 1 kHz conditions by conducting discrimination tests and subjective similarity evaluations. The results showed that ISM could reproduce similar feelings of the pencil hardness.
这项研究旨在利用强度分段调制（ISM）来表现铅笔硬度的细微纹理差异，这是一种从高频到低频振动的感官等效转换方法。这种方法即使使用小型传感器也能呈现细腻的触感。我们将这种方法集成到了世界上最薄的超薄 PZT-MEMS 振动器中，该振动器带有一个触针型装置。我们在相同条件下捕捉了四种铅笔硬度的振动波形，并确认了频率成分的差异。我们通过进行辨别测试和主观相似性评价，比较了原始信号、ISM 和低于 1 kHz 的 ISM 条件下的精细纹理感觉。结果表明，ISM 可以再现类似的铅笔硬度感觉。
{"title":"Representing Fine Texture of Pencil Hardness by High-Frequency Vibrotactile Equivalence Conversion Using Ultra-Thin PZT-MEMS Vibrators","authors":"Masamune Waga;Toru Matsubara;Masashi Konyo;Toshihiro Takeshita;Yusuke Takei;Takeshi Kobayashi;Satoshi Tadokoro","doi":"10.1109/TOH.2023.3349307","DOIUrl":"10.1109/TOH.2023.3349307","url":null,"abstract":"This study aims to represent fine texture differences in pencil hardness using intensity segment modulation (ISM), a sensory equivalent conversion method of vibration from high to low frequencies. This method enables the presentation of delicate tactile sensations even with small transducers. We integrated this approach in the world's thinnest ultra-thin PZT-MEMS vibrator with a stylus-type device. The vibration waveforms of four types of pencil hardness were captured under the same conditions, and the differences in the frequency components were confirmed. We compared the fine texture feelings under raw signal, ISM, and ISM below 1 kHz conditions by conducting discrimination tests and subjective similarity evaluations. The results showed that ISM could reproduce similar feelings of the pencil hardness.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2024-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139402628","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 : 2023-12-29DOI: 10.1109/TOH.2023.3348189
Georgios Korres;Ken Iiyoshi;Mohamad Eid
The use of vibrotactile feedback, in place of a full-fledged force feedback experience, has recently received increased attention in haptic communities due to their clear advantages in terms of cost, expressiveness, and wearability. However, designers and engineers are required to trade off a number of technical challenges when designing vibrotactile actuators, including expressiveness (a wide band of actuation frequency), flexibility, and the complexity of the manufacturing process. To address these challenges, we present the design and characterization of an origami-inspired flexible vibrotactile actuator, named OriVib, with a tunable resonance frequency (expressiveness), an origami-inspired design (flexible, soft contact with the human body), and a streamlined manufacturing process (low-cost). Based on its characterization, the fabricated OriVib actuator with 54 mm diameter can produce up to 1.2 g vibration intensity where the vibration intensity increases linearly from 6-11 V input. The resonance frequency is tunable through the characteristic diameter (the resonance frequency decreases in an almost inversely proportional fashion as the diameter increases). As for the thermal signature, the OriVib actuator maintains its temperature below 38 $^{o}C$ when actuated within 6-8 V. In terms of repeatability, the OriVib maintained an average vibration intensity of 0.849 g (standard deviation 0.035 g) for at least 2 million cycles. These results validate the effectiveness of the OriVib actuator to offer an expressive, low-cost, and flexible vibrotactile actuator.
{"title":"Origami-Inspired Vibrotactile Actuator (OriVib): Design and Characterization","authors":"Georgios Korres;Ken Iiyoshi;Mohamad Eid","doi":"10.1109/TOH.2023.3348189","DOIUrl":"10.1109/TOH.2023.3348189","url":null,"abstract":"The use of vibrotactile feedback, in place of a full-fledged force feedback experience, has recently received increased attention in haptic communities due to their clear advantages in terms of cost, expressiveness, and wearability. However, designers and engineers are required to trade off a number of technical challenges when designing vibrotactile actuators, including expressiveness (a wide band of actuation frequency), flexibility, and the complexity of the manufacturing process. To address these challenges, we present the design and characterization of an origami-inspired flexible vibrotactile actuator, named OriVib, with a tunable resonance frequency (expressiveness), an origami-inspired design (flexible, soft contact with the human body), and a streamlined manufacturing process (low-cost). Based on its characterization, the fabricated OriVib actuator with 54 mm diameter can produce up to 1.2 g vibration intensity where the vibration intensity increases linearly from 6-11 V input. The resonance frequency is tunable through the characteristic diameter (the resonance frequency decreases in an almost inversely proportional fashion as the diameter increases). As for the thermal signature, the OriVib actuator maintains its temperature below 38 \u0000<inline-formula><tex-math>$^{o}C$</tex-math></inline-formula>\u0000 when actuated within 6-8 V. In terms of repeatability, the OriVib maintained an average vibration intensity of 0.849 g (standard deviation 0.035 g) for at least 2 million cycles. These results validate the effectiveness of the OriVib actuator to offer an expressive, low-cost, and flexible vibrotactile actuator.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139073906","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}
With increasing use of computer applications and robotic devices in our everyday life, and with the advent of metaverse, there is an urgent need of developing new types of interfaces that facilitate a more intuitive interaction in physical and virtual space. In this work, we investigate the influence of the location of haptic feedback devices on embodiment of virtual hands and user load during an interactive pick-and-place task. To do this, we conducted a user study with a 3x2 repeated measure experiment design: feedback position is varied between the distal phalanx of the index finger and the thumb, the proximal phalanx of the index finger and the thumb, and the wrist. These conditions of feedback are tested with the stimuli applied synchronously to the participant in one case, and with an additional delay of 350 ms in the second case. The results show that the location of the haptic feedback device does not affect embodiment, whereas the delay, i.e., whether the feedback is applied synchronously or asynchronously, affects embodiment. This suggests that for pick-and-place tasks, haptic feedback devices can be placed on the user's wrist without compromising performance making the hands to remain free, allowing unobstructed hand visibility for precise motion tracking, thereby improving accuracy.
{"title":"How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment","authors":"Anany Dwivedi;Shihan Yu;Chenxu Hao;Gionata Salvietti;Domenico Prattichizzo;Philipp Beckerle","doi":"10.1109/TOH.2023.3347351","DOIUrl":"10.1109/TOH.2023.3347351","url":null,"abstract":"With increasing use of computer applications and robotic devices in our everyday life, and with the advent of metaverse, there is an urgent need of developing new types of interfaces that facilitate a more intuitive interaction in physical and virtual space. In this work, we investigate the influence of the location of haptic feedback devices on embodiment of virtual hands and user load during an interactive pick-and-place task. To do this, we conducted a user study with a 3x2 repeated measure experiment design: feedback position is varied between the distal phalanx of the index finger and the thumb, the proximal phalanx of the index finger and the thumb, and the wrist. These conditions of feedback are tested with the stimuli applied synchronously to the participant in one case, and with an additional delay of 350 ms in the second case. The results show that the location of the haptic feedback device does not affect embodiment, whereas the delay, i.e., whether the feedback is applied synchronously or asynchronously, affects embodiment. This suggests that for pick-and-place tasks, haptic feedback devices can be placed on the user's wrist without compromising performance making the hands to remain free, allowing unobstructed hand visibility for precise motion tracking, thereby improving accuracy.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139073905","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 : 2023-12-28DOI: 10.1109/TOH.2023.3347008
{"title":"2023 Index IEEE Transactions on Haptics Vol. 16","authors":"","doi":"10.1109/TOH.2023.3347008","DOIUrl":"https://doi.org/10.1109/TOH.2023.3347008","url":null,"abstract":"","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.9,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10375888","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139060139","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 : 2023-12-25DOI: 10.1109/TOH.2023.3346683
Bohao Tian;Yilei Zheng;Zhiqi Zhuang;Hu Luo;Yuru Zhang;Dangxiao Wang
The assessment of multi-person group collaboration has garnered increasing attention in recent years. However, it remains uncertain whether haptic information can be effectively utilized to measure teamwork behavior. This study seeks to evaluate teamwork competency within four-person groups and differentiate the contributions of individual members through a haptic collaborative task. To achieve this, we propose a paradigm in which four crews collaboratively manipulate a simulated boat to row along a target curve in a shared haptic-enabled virtual environment. We define eight features related to boat trajectory and synchronization among the four crews' paddling movements, which serve as indicators of teamwork competency. These features are then integrated into a comprehensive feature, and its correlation with self-reported teamwork competency is analyzed. The results demonstrate a strong positive correlation ( r >0.8) between the comprehensive feature and teamwork competency. Additionally, we extract two kinesthetic features that represent the paddling movement preferences of each crew member, enabling us to distinguish their contributions within the group. These two features of the crews with the highest and the lowest contribution in each group were significantly different. This work demonstrates the feasibility of kinesthetic features in evaluating teamwork behavior during multi-person haptic collaboration tasks.
{"title":"Group Haptic Collaboration: Evaluation of Teamwork Behavior during VR Four-Person Rowing Task","authors":"Bohao Tian;Yilei Zheng;Zhiqi Zhuang;Hu Luo;Yuru Zhang;Dangxiao Wang","doi":"10.1109/TOH.2023.3346683","DOIUrl":"10.1109/TOH.2023.3346683","url":null,"abstract":"The assessment of multi-person group collaboration has garnered increasing attention in recent years. However, it remains uncertain whether haptic information can be effectively utilized to measure teamwork behavior. This study seeks to evaluate teamwork competency within four-person groups and differentiate the contributions of individual members through a haptic collaborative task. To achieve this, we propose a paradigm in which four crews collaboratively manipulate a simulated boat to row along a target curve in a shared haptic-enabled virtual environment. We define eight features related to boat trajectory and synchronization among the four crews' paddling movements, which serve as indicators of teamwork competency. These features are then integrated into a comprehensive feature, and its correlation with self-reported teamwork competency is analyzed. The results demonstrate a strong positive correlation (\u0000<italic>r</i>\u0000>0.8) between the comprehensive feature and teamwork competency. Additionally, we extract two kinesthetic features that represent the paddling movement preferences of each crew member, enabling us to distinguish their contributions within the group. These two features of the crews with the highest and the lowest contribution in each group were significantly different. This work demonstrates the feasibility of kinesthetic features in evaluating teamwork behavior during multi-person haptic collaboration tasks.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139037616","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 : 2023-12-25DOI: 10.1109/TOH.2023.3346956
Chongyu Liu;Hong Liu;Hu Chen;Wenchao Du;Hongyu Yang
Haptic temporal signal recognition plays an important supporting role in robot perception. This paper investigates how to improve classification performance on multiple types of haptic temporal signal datasets using a Transformer model structure. By analyzing the feature representation of haptic temporal signals, a Transformer-based two-tower structural model, called Touchformer, is proposed to extract temporal and spatial features separately and integrate them using a self-attention mechanism for classification. To address the characteristics of small sample datasets, data augmentation is employed to improve the stability of the dataset. Adaptations to the overall architecture of the model and the training and optimization procedures are made to improve the recognition performance and robustness of the model. Experimental comparisons on three publicly available datasets demonstrate that the Touchformer model significantly outperforms the benchmark model, indicating our approach's effectiveness and providing a new solution for robot perception.
{"title":"Touchformer: A Transformer-Based Two-Tower Architecture for Tactile Temporal Signal Classification","authors":"Chongyu Liu;Hong Liu;Hu Chen;Wenchao Du;Hongyu Yang","doi":"10.1109/TOH.2023.3346956","DOIUrl":"10.1109/TOH.2023.3346956","url":null,"abstract":"Haptic temporal signal recognition plays an important supporting role in robot perception. This paper investigates how to improve classification performance on multiple types of haptic temporal signal datasets using a Transformer model structure. By analyzing the feature representation of haptic temporal signals, a Transformer-based two-tower structural model, called Touchformer, is proposed to extract temporal and spatial features separately and integrate them using a self-attention mechanism for classification. To address the characteristics of small sample datasets, data augmentation is employed to improve the stability of the dataset. Adaptations to the overall architecture of the model and the training and optimization procedures are made to improve the recognition performance and robustness of the model. Experimental comparisons on three publicly available datasets demonstrate that the Touchformer model significantly outperforms the benchmark model, indicating our approach's effectiveness and providing a new solution for robot perception.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139037617","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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