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":"17 3","pages":"496-502"},"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":"17 2","pages":"292-301"},"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":"16 4","pages":"874-893"},"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":"17 3","pages":"384-395"},"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":"17 3","pages":"396-404"},"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}
Pub Date : 2023-12-25DOI: 10.1109/TOH.2023.3346479
Wenke Duan, Zihao Li, Olatunji M Omisore, Wenjing Du, Toluwanimi O Akinyemi, Xingyu Chen, Xing Gao, Hongbo Wang, Lei Wang
Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipulate endovascular tools such as guidewire and catheter and perceive their safety when cannulating patient's vessels. Currently, the existing interventional robots lack a haptic system for accurate force feedback that surgeons can rely on. In this paper, a haptic-enabled endovascular interventional robot was developed. We proposed a dynamic hysteresis compensation model to address the challenges of hysteresis and nonlinearity in magnetic powder brake-based haptic interface, which were used for providing high-precision and higher dynamic range haptic perception. Also, for the first time, a human perceptual-based haptic enhancement model and safety strategy were integrated with the custom-built haptic interface for enhancing sensation discrimination ability during robot-assisted endovascular interventions. This can effectively amplify even subtle changes in low-intensity operational forces such that surgeons can better discern any vessel-tools interaction force. Several experimental studies were performed to show that the haptic interface and the kinesthetic perception enhancement model can enhance the transparency of robot-assisted endovascular interventions, as well as promote the safety awareness of surgeon.
{"title":"Development of an Intuitive Interface with Haptic Enhancement for Robot-Assisted Endovascular Intervention.","authors":"Wenke Duan, Zihao Li, Olatunji M Omisore, Wenjing Du, Toluwanimi O Akinyemi, Xingyu Chen, Xing Gao, Hongbo Wang, Lei Wang","doi":"10.1109/TOH.2023.3346479","DOIUrl":"https://doi.org/10.1109/TOH.2023.3346479","url":null,"abstract":"<p><p>Robot-assisted endovascular intervention has the potential to reduce radiation exposure to surgeons and enhance outcomes of interventions. However, the success and safety of endovascular interventions depend on surgeons' ability to accurately manipulate endovascular tools such as guidewire and catheter and perceive their safety when cannulating patient's vessels. Currently, the existing interventional robots lack a haptic system for accurate force feedback that surgeons can rely on. In this paper, a haptic-enabled endovascular interventional robot was developed. We proposed a dynamic hysteresis compensation model to address the challenges of hysteresis and nonlinearity in magnetic powder brake-based haptic interface, which were used for providing high-precision and higher dynamic range haptic perception. Also, for the first time, a human perceptual-based haptic enhancement model and safety strategy were integrated with the custom-built haptic interface for enhancing sensation discrimination ability during robot-assisted endovascular interventions. This can effectively amplify even subtle changes in low-intensity operational forces such that surgeons can better discern any vessel-tools interaction force. Several experimental studies were performed to show that the haptic interface and the kinesthetic perception enhancement model can enhance the transparency of robot-assisted endovascular interventions, as well as promote the safety awareness of surgeon.</p>","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.9,"publicationDate":"2023-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139037615","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 : 2023-12-11DOI: 10.1109/TOH.2023.3341336
Nafise Faridi Rad;Ryozo Nagamune
Haptic devices are designed to assist humans in operating tasks in a remote or virtual environment. The passivity-based controllers feed back the forces from the environment while maintaining stability. This article presents the adaptive energy reference time domain passivity approach to overcome the sudden force change inherent in the conventional time domain passivity approach (TDPA). The main advantage of the proposed method is that it can be applied to the haptic interfaces interacting with delayed unknown environments without increasing conservatism compared to the conventional TDPA with or without energy reference. The adaptive energy reference is learned at each interaction by a passive estimation of the haptic interface energy. The energy reference is found using force and velocity data, which does not need the foreknowledge of the environment dynamic model parameters and time delay. Therefore, the designed controller can adapt to different environments and time delays. The proposed method is evaluated in both simulation and experimental setups where the parameters of the environments are unknown to the controller. It is shown that the sudden change in force is decreased compared to the conventional TDPA for haptic interface with or without time delay in the system.
{"title":"Adaptive Energy Reference Time Domain Passivity Control of Haptic Interfaces","authors":"Nafise Faridi Rad;Ryozo Nagamune","doi":"10.1109/TOH.2023.3341336","DOIUrl":"10.1109/TOH.2023.3341336","url":null,"abstract":"Haptic devices are designed to assist humans in operating tasks in a remote or virtual environment. The passivity-based controllers feed back the forces from the environment while maintaining stability. This article presents the adaptive energy reference time domain passivity approach to overcome the sudden force change inherent in the conventional time domain passivity approach (TDPA). The main advantage of the proposed method is that it can be applied to the haptic interfaces interacting with delayed unknown environments without increasing conservatism compared to the conventional TDPA with or without energy reference. The adaptive energy reference is learned at each interaction by a passive estimation of the haptic interface energy. The energy reference is found using force and velocity data, which does not need the foreknowledge of the environment dynamic model parameters and time delay. Therefore, the designed controller can adapt to different environments and time delays. The proposed method is evaluated in both simulation and experimental setups where the parameters of the environments are unknown to the controller. It is shown that the sudden change in force is decreased compared to the conventional TDPA for haptic interface with or without time delay in the system.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"360-371"},"PeriodicalIF":2.4,"publicationDate":"2023-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138801454","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 : 2023-12-01DOI: 10.1109/TOH.2023.3338230
Tao Morisaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the sound pressure distribution at a low frequency. This finding expands the potential for tactile rendering in ultrasound haptics as static pressure sensation is perceived with a high spatial resolution. In this study, we verified that focused ultrasound can render a static pressure sensation associated with contact with a small convex surface on a finger pad. This static contact rendering enables noncontact tactile reproduction of a fine uneven surface using ultrasound. In the experiments, four ultrasound foci were simultaneously and circularly rotated on a finger pad at 5 Hz. When the orbit radius was 3 mm, vibration and focal movements were barely perceptible, and the stimulus was perceived as static pressure. Moreover, under the condition, the pressure sensation rendered a contact with a small convex surface with a radius of 2 mm. The perceived intensity of the static contact sensation was equivalent to a physical contact force of 0.24 N on average, 10.9 times the radiation force physically applied to the skin.
{"title":"Noncontact Haptic Rendering of Static Contact With Convex Surface Using Circular Movement of Ultrasound Focus on a Finger Pad","authors":"Tao Morisaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda","doi":"10.1109/TOH.2023.3338230","DOIUrl":"10.1109/TOH.2023.3338230","url":null,"abstract":"A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the sound pressure distribution at a low frequency. This finding expands the potential for tactile rendering in ultrasound haptics as static pressure sensation is perceived with a high spatial resolution. In this study, we verified that focused ultrasound can render a static pressure sensation associated with contact with a small convex surface on a finger pad. This static contact rendering enables noncontact tactile reproduction of a fine uneven surface using ultrasound. In the experiments, four ultrasound foci were simultaneously and circularly rotated on a finger pad at 5 Hz. When the orbit radius was 3 mm, vibration and focal movements were barely perceptible, and the stimulus was perceived as static pressure. Moreover, under the condition, the pressure sensation rendered a contact with a small convex surface with a radius of 2 mm. The perceived intensity of the static contact sensation was equivalent to a physical contact force of 0.24 N on average, 10.9 times the radiation force physically applied to the skin.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"334-345"},"PeriodicalIF":2.4,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10339270","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138470238","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 : 2023-12-01DOI: 10.1109/TOH.2023.3338224
Dong-Geun Kim;Jungeun Lee;Gyeore Yun;Hong Z. Tan;Seungmoon Choi
This article explores how to relate sound and touch in terms of their spectral characteristics based on crossmodal congruence. The context is the audio-to-tactile conversion of short sounds frequently used for user experience improvement across various applications. For each short sound, a single-frequency amplitude-modulated vibration is synthesized so that their intensive and temporal characteristics are very similar. It leaves the vibration frequency, which determines the tactile pitch, as the only variable. Each sound is paired with many vibrations of different frequencies. The congruence between sound and vibration is evaluated for 175 pairs (25 sounds × 7 vibration frequencies). This dataset is employed to estimate a functional relationship from the sound loudness spectrum of sound to the most harmonious vibration frequency. Finally, this sound-to-touch crossmodal pitch mapping function is evaluated using cross-validation. To our knowledge, this is the first attempt to find general rules for spectral matching between sound and touch.
{"title":"Sound-to-Touch Crossmodal Pitch Matching for Short Sounds","authors":"Dong-Geun Kim;Jungeun Lee;Gyeore Yun;Hong Z. Tan;Seungmoon Choi","doi":"10.1109/TOH.2023.3338224","DOIUrl":"10.1109/TOH.2023.3338224","url":null,"abstract":"This article explores how to relate sound and touch in terms of their spectral characteristics based on crossmodal congruence. The context is the audio-to-tactile conversion of short sounds frequently used for user experience improvement across various applications. For each short sound, a single-frequency amplitude-modulated vibration is synthesized so that their intensive and temporal characteristics are very similar. It leaves the vibration frequency, which determines the tactile pitch, as the only variable. Each sound is paired with many vibrations of different frequencies. The congruence between sound and vibration is evaluated for 175 pairs (25 sounds × 7 vibration frequencies). This dataset is employed to estimate a functional relationship from the sound loudness spectrum of sound to the most harmonious vibration frequency. Finally, this sound-to-touch crossmodal pitch mapping function is evaluated using cross-validation. To our knowledge, this is the first attempt to find general rules for spectral matching between sound and touch.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"2-7"},"PeriodicalIF":2.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138470239","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 : 2023-11-13DOI: 10.1109/TOH.2023.3332295
Mor Farajian;Raz Leib;Hanna Kossowsky;Ilana Nisky
When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.
{"title":"Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control","authors":"Mor Farajian;Raz Leib;Hanna Kossowsky;Ilana Nisky","doi":"10.1109/TOH.2023.3332295","DOIUrl":"10.1109/TOH.2023.3332295","url":null,"abstract":"When interacting with an object, we use kinesthetic and tactile information to create our perception of the object's properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"836-847"},"PeriodicalIF":2.9,"publicationDate":"2023-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"92153750","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：