Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.25.aa4d97aa
Gregory Reardon, Nikolas Kastor, Yitian Shao, Y. Visell
It is challenging to engineer programmable tactile displays to match human haptic abilities. Such displays are often composed of elements whose stiffness contrasts greatly with the softness of many natural materials. Emerging soft material technologies hold promise for their ability to conform to many objects, including the human body. However, rendering localized feedback from soft haptic devices remains challenging. Here, we present the Elastowave, a soft tactile interface that provides localized tactile feedback via a soft, compliant surface. We achieve this by focusing elastic wave fields generated by a compact array of remotely-positioned actuators. Our method is based on new variations of time-reversal focusing techniques for elastodynamic waves. Our system can provide dynamic, single- or multi-point localized tactile feedback with centimeter-scale resolution across a deformable interface with an area of 175 cm2 . The sizeable displacements of the focused tactile signals enable them to be easily felt, as our experiments show. This work could enable the design of a multitude of new soft tactile interfaces in areas such as creative computing, product design, and augmented reality.
{"title":"Elastowave: Localized Tactile Feedback in a Soft Haptic Interface via Focused Elastic Waves","authors":"Gregory Reardon, Nikolas Kastor, Yitian Shao, Y. Visell","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.25.aa4d97aa","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.25.aa4d97aa","url":null,"abstract":"It is challenging to engineer programmable tactile displays to match human haptic abilities. Such displays are often composed of elements whose stiffness contrasts greatly with the softness of many natural materials. Emerging soft material technologies hold promise for their ability to conform to many objects, including the human body. However, rendering localized feedback from soft haptic devices remains challenging. Here, we present the Elastowave, a soft tactile interface that provides localized tactile feedback via a soft, compliant surface. We achieve this by focusing elastic wave fields generated by a compact array of remotely-positioned actuators. Our method is based on new variations of time-reversal focusing techniques for elastodynamic waves. Our system can provide dynamic, single- or multi-point localized tactile feedback with centimeter-scale resolution across a deformable interface with an area of 175 cm2 . The sizeable displacements of the focused tactile signals enable them to be easily felt, as our experiments show. This work could enable the design of a multitude of new soft tactile interfaces in areas such as creative computing, product design, and augmented reality.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"70 1","pages":"7-14"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73877682","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.35.f631355d
Cara M. Nunez, Bryce N. Huerta, A. Okamura, Heather Culbertson
A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal indentation and sequential lateral skin-slip using discrete actuators. Our goals are to understand which form of stimulation more effectively creates a continuous stroking sensation, and how many discrete contact points are needed. We performed a study with 20 participants in which they rated sensations from the haptic devices on continuity and pleasantness. We found that lateral skin-slip created a more continuous sensation, and decreasing the number of contact points decreased the continuity. These results inform the design of future wearable haptic devices and the creation of haptic signals for effective social communication.
{"title":"Investigating Social Haptic Illusions for Tactile Stroking (SHIFTS)","authors":"Cara M. Nunez, Bryce N. Huerta, A. Okamura, Heather Culbertson","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.35.f631355d","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.35.f631355d","url":null,"abstract":"A common and effective form of social touch is stroking on the forearm. We seek to replicate this stroking sensation using haptic illusions. This work compares two methods that provide sequential discrete stimulation: sequential normal indentation and sequential lateral skin-slip using discrete actuators. Our goals are to understand which form of stimulation more effectively creates a continuous stroking sensation, and how many discrete contact points are needed. We performed a study with 20 participants in which they rated sensations from the haptic devices on continuity and pleasantness. We found that lateral skin-slip created a more continuous sensation, and decreasing the number of contact points decreased the continuity. These results inform the design of future wearable haptic devices and the creation of haptic signals for effective social communication.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"53 1","pages":"629-636"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76401358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.19.f2b7107a
David Gueorguiev, J. Lambert, J. Thonnard, K. J. Kuchenbecker
Using a force-controlled robotic platform, we investigated the contact mechanics and psychophysical responses induced by negative and positive modulations in normal force during passive dynamic touch. In the natural state of the finger, the applied normal force modulation induces a correlated change in the tangential force. In a second condition, we applied talcum powder to the fingerpad, which induced a significant modification in the slope of the correlated tangential change. In both conditions, the same ten participants had to detect the interval that contained a decrease or an increase in the pre-stimulation normal force of 1 N. In the natural state, the 75% just noticeable difference for this task was found to be a ratio of 0.19 and 0.18 for decreases and increases, respectively. With talcum powder on the fingerpad, the normal force thresholds remained stable, following the Weber law of constant just noticeable differences, while the tangential force thresholds changed in the same way as the correlation slopes. This result suggests that participants predominantly relied on the normal force changes to perform the detection task. In addition, participants were asked to report whether the force decreased or increased. Their performance was generally poor at this second task even for above-threshold changes. However, their accuracy slightly improved with the talcum powder, which might be due to the reduced finger-surface friction.
{"title":"Changes in Normal Force During Passive Dynamic Touch: Contact Mechanics and Perception","authors":"David Gueorguiev, J. Lambert, J. Thonnard, K. J. Kuchenbecker","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.19.f2b7107a","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.19.f2b7107a","url":null,"abstract":"Using a force-controlled robotic platform, we investigated the contact mechanics and psychophysical responses induced by negative and positive modulations in normal force during passive dynamic touch. In the natural state of the finger, the applied normal force modulation induces a correlated change in the tangential force. In a second condition, we applied talcum powder to the fingerpad, which induced a significant modification in the slope of the correlated tangential change. In both conditions, the same ten participants had to detect the interval that contained a decrease or an increase in the pre-stimulation normal force of 1 N. In the natural state, the 75% just noticeable difference for this task was found to be a ratio of 0.19 and 0.18 for decreases and increases, respectively. With talcum powder on the fingerpad, the normal force thresholds remained stable, following the Weber law of constant just noticeable differences, while the tangential force thresholds changed in the same way as the correlation slopes. This result suggests that participants predominantly relied on the normal force changes to perform the detection task. In addition, participants were asked to report whether the force decreased or increased. Their performance was generally poor at this second task even for above-threshold changes. However, their accuracy slightly improved with the talcum powder, which might be due to the reduced finger-surface friction.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"48 1","pages":"746-752"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87558797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.156.6c3cc0bf
Parisa Alirezaee, Antoine Weill--Duflos, J. Schlesinger, J. Cooperstock
Noise in critical care units, in particular, from patient monitor alarms, is harmful for clinicians and patients alike. This has motivated research aimed at shifting the delivery of physiological vital sign information and annunciation of alarm events from visual and auditory devices to haptic transducers. We compare performance in perceiving and identifying the specific type and level of a vital sign that has entered a high or low state, i.e., an alarm event, using several designs of a vibrotactile display, against that of the traditional auditory alarm in conjunction with a graphical patient monitor. A distractor activity was used to simulate competing task demands in the clinical environment. Responses were assessed with respect to response time and accuracy. With sufficient anatomical separation of the actuators, certain vibrotactile information rendering strategies demonstrated performance that was not significantly different from that of the baseline condition, both in response time and accuracy. We conclude that vibrotactile delivery of patient vitals can support alarm-state vital sign identification competitive with graphical and auditory alarm display conditions, without significantly impacting performance on a parallel attention-demanding activity. This suggests the possibility of improving high-impact healthcare environments by replacing disturbing auditory alarms with vibrotactile information delivery to clinicians.
{"title":"Exploring the Effectiveness of Haptic Alarm Displays for Critical Care Environments","authors":"Parisa Alirezaee, Antoine Weill--Duflos, J. Schlesinger, J. Cooperstock","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.156.6c3cc0bf","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.156.6c3cc0bf","url":null,"abstract":"Noise in critical care units, in particular, from patient monitor alarms, is harmful for clinicians and patients alike. This has motivated research aimed at shifting the delivery of physiological vital sign information and annunciation of alarm events from visual and auditory devices to haptic transducers. We compare performance in perceiving and identifying the specific type and level of a vital sign that has entered a high or low state, i.e., an alarm event, using several designs of a vibrotactile display, against that of the traditional auditory alarm in conjunction with a graphical patient monitor. A distractor activity was used to simulate competing task demands in the clinical environment. Responses were assessed with respect to response time and accuracy. With sufficient anatomical separation of the actuators, certain vibrotactile information rendering strategies demonstrated performance that was not significantly different from that of the baseline condition, both in response time and accuracy. We conclude that vibrotactile delivery of patient vitals can support alarm-state vital sign identification competitive with graphical and auditory alarm display conditions, without significantly impacting performance on a parallel attention-demanding activity. This suggests the possibility of improving high-impact healthcare environments by replacing disturbing auditory alarms with vibrotactile information delivery to clinicians.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"2674 1","pages":"948-954"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83263824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.23.0f334629
Yitian Shao, Siyuan Ma, S. Yoon, Y. Visell, J. Holbery
Touch perception is mediated by the skin, a highly compliant, distributed medium. In contrast, haptic displays frequently rely on rigid actuated elements. Here, we introduce a new haptic display based on compliant, liquid dielectric actuators. This display combines electrostatic attraction with hydraulic amplification provided by a liquid dielectric encapsulated in a compliant pouch. Voltage supplied to six pairs of opposed hydrogel electrodes generates dynamic variations in pressure on the encapsulated liquid. Mechanical amplification by the liquid enables the device to render tactile feedback with substantial displacements (> 2 mm) and forces (> 0.8 N) via a thin (< 3.5 mm) compliant surface with a large active area (75 cm2). The result is a soft, wearable tactile interface for providing dynamic haptic feedback to large areas of the skin. The intrinsic compliance of this interface lends a comfortable quality to the feedback it provides. We describe key considerations informing the design, including performance, reliability, and safety, and how these are addressed in our device. We describe a fabrication method that enable the device to be easily reproduced by others. We discuss a flexible multichannel system for dynamically controlling them. We also show how the display can produce unique haptic experiences, such as fluid-mediated haptic effects of motion across the skin.
{"title":"SurfaceFlow: Large Area Haptic Display via Compliant Liquid Dielectric Actuators","authors":"Yitian Shao, Siyuan Ma, S. Yoon, Y. Visell, J. Holbery","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.23.0f334629","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.23.0f334629","url":null,"abstract":"Touch perception is mediated by the skin, a highly compliant, distributed medium. In contrast, haptic displays frequently rely on rigid actuated elements. Here, we introduce a new haptic display based on compliant, liquid dielectric actuators. This display combines electrostatic attraction with hydraulic amplification provided by a liquid dielectric encapsulated in a compliant pouch. Voltage supplied to six pairs of opposed hydrogel electrodes generates dynamic variations in pressure on the encapsulated liquid. Mechanical amplification by the liquid enables the device to render tactile feedback with substantial displacements (> 2 mm) and forces (> 0.8 N) via a thin (< 3.5 mm) compliant surface with a large active area (75 cm2). The result is a soft, wearable tactile interface for providing dynamic haptic feedback to large areas of the skin. The intrinsic compliance of this interface lends a comfortable quality to the feedback it provides. We describe key considerations informing the design, including performance, reliability, and safety, and how these are addressed in our device. We describe a fabrication method that enable the device to be easily reproduced by others. We discuss a flexible multichannel system for dynamically controlling them. We also show how the display can produce unique haptic experiences, such as fluid-mediated haptic effects of motion across the skin.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"25 1","pages":"815-820"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74984336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.153.550dbcba
Jeffrey R. Blum, Jessica R. Cauchard, J. Cooperstock
Habituation is a key aspect of the human sensory processing system. This includes the sense of touch, since it allows our skin receptors to be constantly stimulated, yet largely ignored until something of interest occurs or we consciously focus our attention on the sensations and their meanings. This "ambience" is largely lacking in mobile and wearable systems today, as jarring notifications clamor for our attention. Yet, there are few longitudinal, in-the-wild studies that explore whether and how users can habituate to new ongoing haptic stimuli, especially in practical applications. We report on a three-week in-the-wild study with each participant wearing a vibrotactile device throughout every day. The device rendered two brief vibrotactile pulses every 20 seconds, and varied their durations based on a linked partner’s current activity. Some participants had little difficulty acclimating to the system from the very beginning, but practically all expressed at least some days of annoyance/distraction within the first week. Despite considerable variation among participants, we find a significant drop in both annoyance and distraction over the multiple weeks of the study. A clear majority no longer report annoyance or distraction by the end of the experiment, indicating habituation.
{"title":"Habituation to Pseudo-Ambient Vibrotactile Patterns for Remote Awareness","authors":"Jeffrey R. Blum, Jessica R. Cauchard, J. Cooperstock","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.153.550dbcba","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.153.550dbcba","url":null,"abstract":"Habituation is a key aspect of the human sensory processing system. This includes the sense of touch, since it allows our skin receptors to be constantly stimulated, yet largely ignored until something of interest occurs or we consciously focus our attention on the sensations and their meanings. This \"ambience\" is largely lacking in mobile and wearable systems today, as jarring notifications clamor for our attention. Yet, there are few longitudinal, in-the-wild studies that explore whether and how users can habituate to new ongoing haptic stimuli, especially in practical applications. We report on a three-week in-the-wild study with each participant wearing a vibrotactile device throughout every day. The device rendered two brief vibrotactile pulses every 20 seconds, and varied their durations based on a linked partner’s current activity. Some participants had little difficulty acclimating to the system from the very beginning, but practically all expressed at least some days of annoyance/distraction within the first week. Despite considerable variation among participants, we find a significant drop in both annoyance and distraction over the multiple weeks of the study. A clear majority no longer report annoyance or distraction by the end of the experiment, indicating habituation.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"175 1","pages":"657-663"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81618726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.6.422bbc6e
Andreas Noll, Başak Güleçyüz, A. Hofmann, E. Steinbach
For a fully immersive virtual reality experience, humans have to be presented with high quality haptic stimuli in addition to audio and video. However, delivering haptic stimuli with high level of realism is still challenging. An important component of haptic stimulation is based on vibrotactile signals. They are emitted when sliding a tooltip or a finger over a textured surface and carry a large amount of information about the surface material properties. Vibrotactile signals have received considerable attention so far, though as the number of interaction points to be displayed will start to increase soon, it is vital that data rates are kept low. This calls for an efficient codec that is able to compress these signals while maintaining perceptual transparency. The IEEE P1918.1.1 standardization group has issued a call for contributions for such a codec. In this work, we present our contribution to this standardization effort. We have developed a highly efficient codec which employs a discrete wavelet transform, human tactile perceptual modeling, quantization, and lossless coding to achieve high compression, while maintaining perceptual signal quality. The proposed vibrotactile codec compresses the signals at least by a factor of 10 with practically no perceptual impairment for most signals. Thus, our approach significantly outperforms the current state-of-the-art.
{"title":"A Rate-scalable Perceptual Wavelet-based Vibrotactile Codec","authors":"Andreas Noll, Başak Güleçyüz, A. Hofmann, E. Steinbach","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.6.422bbc6e","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.6.422bbc6e","url":null,"abstract":"For a fully immersive virtual reality experience, humans have to be presented with high quality haptic stimuli in addition to audio and video. However, delivering haptic stimuli with high level of realism is still challenging. An important component of haptic stimulation is based on vibrotactile signals. They are emitted when sliding a tooltip or a finger over a textured surface and carry a large amount of information about the surface material properties. Vibrotactile signals have received considerable attention so far, though as the number of interaction points to be displayed will start to increase soon, it is vital that data rates are kept low. This calls for an efficient codec that is able to compress these signals while maintaining perceptual transparency. The IEEE P1918.1.1 standardization group has issued a call for contributions for such a codec. In this work, we present our contribution to this standardization effort. We have developed a highly efficient codec which employs a discrete wavelet transform, human tactile perceptual modeling, quantization, and lossless coding to achieve high compression, while maintaining perceptual signal quality. The proposed vibrotactile codec compresses the signals at least by a factor of 10 with practically no perceptual impairment for most signals. Thus, our approach significantly outperforms the current state-of-the-art.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"96 1","pages":"854-859"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76098357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.34.8ad689d4
Preeti Vyas, Feras Al Taha, Jeffrey R. Blum, J. Cooperstock
Tactile rendering of numeric information via a single actuator has been considered for such purposes as fitness progress tracking. However, multi-actuator designs, leveraging spatial mapping, may offer superior performance. Motivated to explore this approach without requiring hardware on the fingers or wrist, we designed HapToes, a novel ten-digit spatial mapping of numeric information to the toes, which overcomes inter-toe discrimination ambiguity. Compared to ActiVibe, a single-actuator wrist-based numeric rendering technique, under similar distraction conditions, HapToes demonstrates equivalent performance for single-value identification, and improved accuracy, response time, and cognitive load when conveying three values sequentially in a single message.
{"title":"HapToes: Vibrotactile Numeric Information Delivery via Tactile Toe Display","authors":"Preeti Vyas, Feras Al Taha, Jeffrey R. Blum, J. Cooperstock","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.34.8ad689d4","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.34.8ad689d4","url":null,"abstract":"Tactile rendering of numeric information via a single actuator has been considered for such purposes as fitness progress tracking. However, multi-actuator designs, leveraging spatial mapping, may offer superior performance. Motivated to explore this approach without requiring hardware on the fingers or wrist, we designed HapToes, a novel ten-digit spatial mapping of numeric information to the toes, which overcomes inter-toe discrimination ambiguity. Compared to ActiVibe, a single-actuator wrist-based numeric rendering technique, under similar distraction conditions, HapToes demonstrates equivalent performance for single-value identification, and improved accuracy, response time, and cognitive load when conveying three values sequentially in a single message.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"47 1","pages":"61-67"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87546146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.158.b8032225
Satoshi Tanaka, Seitaro Kaneko, H. Kajimoto
We propose a method of measuring threedimensional skin displacement when a finger traces a texture. We combine the techniques of index matching and stereoscopy; the former makes the textured plate virtually transparent while the latter allows three-dimensional measurement of markers on the skin. We confirm that the proposed method can observe skin displacement in normal and tangential directions when the pitch of texture is larger than 2 mm. Observation results are reasonable in that the progress of a sinusoidal wave is observed on the skin when the texture is sinusoidal, and a displacement with the same period is observed when the texture is a rectangular linear grating. Moreover, we observe that the skin displacement in the skin normal direction may have a higher resolution or amplitude than that in the tangential direction. Limitations of the proposed method are also discussed.
{"title":"Three-dimensional Measurement of Skin Displacement","authors":"Satoshi Tanaka, Seitaro Kaneko, H. Kajimoto","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.158.b8032225","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.158.b8032225","url":null,"abstract":"We propose a method of measuring threedimensional skin displacement when a finger traces a texture. We combine the techniques of index matching and stereoscopy; the former makes the textured plate virtually transparent while the latter allows three-dimensional measurement of markers on the skin. We confirm that the proposed method can observe skin displacement in normal and tangential directions when the pitch of texture is larger than 2 mm. Observation results are reasonable in that the progress of a sinusoidal wave is observed on the skin when the texture is sinusoidal, and a displacement with the same period is observed when the texture is a rectangular linear grating. Moreover, we observe that the skin displacement in the skin normal direction may have a higher resolution or amplitude than that in the tangential direction. Limitations of the proposed method are also discussed.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"108 1","pages":"794-800"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89008510","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.16.8d90d0bd
Haneen Alsuradi, C. Pawar, Wanjoo Park, M. Eid
Neurohaptics strive to study brain activation associated with haptic interaction (tactile and/or kinesthetic). Understanding the haptic perception and cognition has become an exciting area in the technological, medical and psychophysical research. Neurohaptics has the potential to provide quantitative (objective) evaluation of the user haptic experience by directly measuring brain activities via EEG devices. In this study, we employed a Machine Learning (ML) based classifier model, namely the Radial Based Function Support Vector Machine (RBF-SVM) to select a few relevant Electroencephalography (EEG) channels and to detect the presence of tactile feedback during interaction with touch-screen devices using EEG data. To overcome the problem of limited training data, time-shifting is proposed as a method for data augmentation in time-series neural data which increased the classification accuracy. An experimental setup comprising an active touch task on the Tanvas touch-screen device is designed to evaluate the developed model. Results demonstrated that the middle frontal cortex, namely channels AF3, AF4, and F1 produced the best recognition rate of 85±3.3% in detecting the presence of the tactile feedback. This work is a step forward towards building a quantitative evaluation of tactile experience during haptic interaction.
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