Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.80.00957e94
Yusuke Ujitoko, Sho Sakurai, K. Hirota
When an input command signal designed with one vibrator is reused with another vibrator with different frequency characteristics, there is a problem that the output vibration will differ. Therefore, we propose the concept of "vibrator transparency." We define the "vibrator transparent system" as a control system that absorbs the difference in vibrator environments’ frequency characteristics. The output vibration of the system does not depend on the change of the vibrator environment but depends only on the input signal. Therefore, with this system, it is possible to reproduce the output vibration by only reusing the input signals from vibrotactile signal assets. Inside the system, an adaptation process for the input signal is automatically executed. To prove the feasibility of this concept, we verified the reproducibility of vibration through both objective metrics and user study. It was proved that the proposed system significantly improved the reproducibility of the vibrations compared with the conventional system for any vibrators and any input signals.
{"title":"Vibrator Transparency: Re-using Vibrotactile Signal Assets for Different Black Box Vibrators without Re-designing","authors":"Yusuke Ujitoko, Sho Sakurai, K. Hirota","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.80.00957e94","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.80.00957e94","url":null,"abstract":"When an input command signal designed with one vibrator is reused with another vibrator with different frequency characteristics, there is a problem that the output vibration will differ. Therefore, we propose the concept of \"vibrator transparency.\" We define the \"vibrator transparent system\" as a control system that absorbs the difference in vibrator environments’ frequency characteristics. The output vibration of the system does not depend on the change of the vibrator environment but depends only on the input signal. Therefore, with this system, it is possible to reproduce the output vibration by only reusing the input signals from vibrotactile signal assets. Inside the system, an adaptation process for the input signal is automatically executed. To prove the feasibility of this concept, we verified the reproducibility of vibration through both objective metrics and user study. It was proved that the proposed system significantly improved the reproducibility of the vibrations compared with the conventional system for any vibrators and any input signals.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"62 1","pages":"882-889"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76421694","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.HAP20.157.5a2e1551
Yizhen Zhou, Aiko Murata, J. Watanabe
Previous studies have demonstrated a connection between emotions and bodily signals such as heart rate. For example, they have found that self-reported anxiety can be reduced by perceiving heartbeat-like vibration, and users experiencing their own heartbeats via vibration have reported that they felt calmer. However, whether the influence of haptic heartbeat feedback occurs at the physiological level has not yet been investigated, and previous studies were limited to the recovering effect from stress. Here, we investigated whether heartbeat feedback provided by a haptic device has a positive effect on physiological reactions in a relaxing activity. Specifically, we assessed the heart rate variability when users received haptic feedback from their own heartbeat. In addition, we used heartbeat sound as auditory feedback to investigate whether it has an influence on those reactions. Our results show that the heartbeat vibration influenced the users’ heart rate variability and helped them physiologically relax. On the other hand, no effect of heartbeat sounds was observed. We also examined the influence of both feedback on participants’ self-reported anxiety and found no effect. These findings provide insights into the involuntary effects of heartbeat feedback at deeper levels and open up the possibility of developing a haptic biofeedback device.
{"title":"The Calming Effect of Heartbeat Vibration","authors":"Yizhen Zhou, Aiko Murata, J. Watanabe","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.157.5a2e1551","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.157.5a2e1551","url":null,"abstract":"Previous studies have demonstrated a connection between emotions and bodily signals such as heart rate. For example, they have found that self-reported anxiety can be reduced by perceiving heartbeat-like vibration, and users experiencing their own heartbeats via vibration have reported that they felt calmer. However, whether the influence of haptic heartbeat feedback occurs at the physiological level has not yet been investigated, and previous studies were limited to the recovering effect from stress. Here, we investigated whether heartbeat feedback provided by a haptic device has a positive effect on physiological reactions in a relaxing activity. Specifically, we assessed the heart rate variability when users received haptic feedback from their own heartbeat. In addition, we used heartbeat sound as auditory feedback to investigate whether it has an influence on those reactions. Our results show that the heartbeat vibration influenced the users’ heart rate variability and helped them physiologically relax. On the other hand, no effect of heartbeat sounds was observed. We also examined the influence of both feedback on participants’ self-reported anxiety and found no effect. These findings provide insights into the involuntary effects of heartbeat feedback at deeper levels and open up the possibility of developing a haptic biofeedback device.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"51 1","pages":"677-683"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85404330","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.HAP20.13.8ee5dc37
Yosuef Alotaibi, John Williamson, S. Brewster
Electrotactile feedback can be used as a novel method to evoke different sensations on the skin. However, there is a lack of research exploring electrotactile feedback on the palm. This paper presents two experiments that investigate the effects of manipulating pulse width, amplitude and frequency of electrical stimulation on perceived sensations (urgency, annoyance, valence and arousal) on the palm. In the first study, we manipulated pulse width and frequency. The results showed that both parameters have a significant effect on the perceived sensations, except for frequency not having an effect on valence. Also, frequencies of 30Hz and above did not influence the perceived sensations. In the second study, we manipulated amplitude and frequency. The results showed that both parameters have a significant effect on perceived sensations, especially for frequencies lower than 30Hz. From both experiments, the increment of pulse width and amplitude led to a higher rating for urgency, annoyance and arousal. These results gives us a better understanding of the parameter space of electrotactile feedback to enable designers to create effective electrotactile feedback.
{"title":"Investigating Electrotactile Feedback on The Hand","authors":"Yosuef Alotaibi, John Williamson, S. Brewster","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.13.8ee5dc37","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.13.8ee5dc37","url":null,"abstract":"Electrotactile feedback can be used as a novel method to evoke different sensations on the skin. However, there is a lack of research exploring electrotactile feedback on the palm. This paper presents two experiments that investigate the effects of manipulating pulse width, amplitude and frequency of electrical stimulation on perceived sensations (urgency, annoyance, valence and arousal) on the palm. In the first study, we manipulated pulse width and frequency. The results showed that both parameters have a significant effect on the perceived sensations, except for frequency not having an effect on valence. Also, frequencies of 30Hz and above did not influence the perceived sensations. In the second study, we manipulated amplitude and frequency. The results showed that both parameters have a significant effect on perceived sensations, especially for frequencies lower than 30Hz. From both experiments, the increment of pulse width and amplitude led to a higher rating for urgency, annoyance and arousal. These results gives us a better understanding of the parameter space of electrotactile feedback to enable designers to create effective electrotactile feedback.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"1 1","pages":"637-642"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77040353","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.HAP20.20.95bee409
Andrés Ramos, K. Hashtrudi-Zaad
Human-robot interactions are becoming more and more prevalent in various aspects of life, enhancing humans’ mobility, accessibility and health. However, safety measures need to be addressed when applying robotic-generated forces that put human users at risk. One way to improve safety and performance in robotic tasks is to include physiological information, such as damping properties of the arm, in the control system to help regulate the energy that is delivered to the user. In this work, we estimated the energy absorbing capabilities of the human arm, based on the metric Excess of Passivity (EOP), originally defined in [1]. We used data from healthy subjects to generate models that fit different levels of safety and stability. Variability in subjects’ EOP was a major finding in this study. For demanding applications such as robotic rehabilitation therapy, we suggest using a linear model with two EOP points. Such points are the mean values of EOP estimations at relaxed and rigid levels of hand-grasp forces. Two standard deviations were subtracted from each EOP point to consider the variability due to the neuromuscular changes in the human arm.
{"title":"Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions","authors":"Andrés Ramos, K. Hashtrudi-Zaad","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.20.95bee409","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.20.95bee409","url":null,"abstract":"Human-robot interactions are becoming more and more prevalent in various aspects of life, enhancing humans’ mobility, accessibility and health. However, safety measures need to be addressed when applying robotic-generated forces that put human users at risk. One way to improve safety and performance in robotic tasks is to include physiological information, such as damping properties of the arm, in the control system to help regulate the energy that is delivered to the user. In this work, we estimated the energy absorbing capabilities of the human arm, based on the metric Excess of Passivity (EOP), originally defined in [1]. We used data from healthy subjects to generate models that fit different levels of safety and stability. Variability in subjects’ EOP was a major finding in this study. For demanding applications such as robotic rehabilitation therapy, we suggest using a linear model with two EOP points. Such points are the mean values of EOP estimations at relaxed and rigid levels of hand-grasp forces. Two standard deviations were subtracted from each EOP point to consider the variability due to the neuromuscular changes in the human arm.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"20 1","pages":"115-120"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77961203","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}
We propose StickyTouch, a novel tactile display that represents a surface’s adhesive information. This adhesive surface enables users to intuitively manipulate information and new interactions, such as attaching and removing fingers, are also possible. Adhesion control is achieved with a temperature sensitive adhesive sheet whose temperature is locally controlled by Peltier devices arranged in a grid. In this paper, we describe the characteristics of the temperature sensitive sheet and display system, and discuss the implementation of a proof-of-concept prototype with 64 Peltier devices with an adhesive size of 150 × 150 mm. We conduct several experiments on adhesion perception when touching and swiping on the display surface to evaluate the performance of StickyTouch. Finally, we discuss the applications for touch and swipe and our future prospects.
{"title":"StickyTouch: A Tactile Display with Changeable Adhesive Distribution","authors":"Yoshitaka Ishihara, Yuichi Itoh, Ryo Shirai, Kazuyuki Fujita, Kazuki Takashima, T. Onoye","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.4.b5d4a51b","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.4.b5d4a51b","url":null,"abstract":"We propose StickyTouch, a novel tactile display that represents a surface’s adhesive information. This adhesive surface enables users to intuitively manipulate information and new interactions, such as attaching and removing fingers, are also possible. Adhesion control is achieved with a temperature sensitive adhesive sheet whose temperature is locally controlled by Peltier devices arranged in a grid. In this paper, we describe the characteristics of the temperature sensitive sheet and display system, and discuss the implementation of a proof-of-concept prototype with 64 Peltier devices with an adhesive size of 150 × 150 mm. We conduct several experiments on adhesion perception when touching and swiping on the display surface to evaluate the performance of StickyTouch. Finally, we discuss the applications for touch and swipe and our future prospects.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"358 1","pages":"842-847"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76348517","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.HAP20.32.c4048ec3
Dustin T. Goetz, D. Owusu-Antwi, Heather Culbertson
Haptics in virtual reality has become increasingly important for improving realism and immersiveness. However, matching the complexity of real-world tactile interactions is a challenging problem due to the complexity of our sense of touch. Motivated by the recognition that multi-modal haptic feedback is needed to fully recreate human touch, we created PATCH, a Pump-Actuated Thermal Compression Haptic device for presenting simultaneous thermal and compression cues. The system uses water of varying temperature to provide compression cues and transfer heat to or from the user's skin. The wearable component of the system is constructed solely of soft, flexible components. When compared to an established, unimodal, pressure-based haptic device, the PATCH system was found to perform similarly in terms of recognition and saliency, but it was rated more favorably in terms of wearability. The PATCH device can display temperatures ranging from 17° C to 42° C, fitting the desired temperatures with an R2 = 0.75, and can display pulsed cues at a rate of 0.22 Hz. The success of our PATCH system can serve to inform the development of the next generation of multi-modal haptic devices.
{"title":"PATCH: Pump-Actuated Thermal Compression Haptics","authors":"Dustin T. Goetz, D. Owusu-Antwi, Heather Culbertson","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.32.c4048ec3","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.32.c4048ec3","url":null,"abstract":"Haptics in virtual reality has become increasingly important for improving realism and immersiveness. However, matching the complexity of real-world tactile interactions is a challenging problem due to the complexity of our sense of touch. Motivated by the recognition that multi-modal haptic feedback is needed to fully recreate human touch, we created PATCH, a Pump-Actuated Thermal Compression Haptic device for presenting simultaneous thermal and compression cues. The system uses water of varying temperature to provide compression cues and transfer heat to or from the user's skin. The wearable component of the system is constructed solely of soft, flexible components. When compared to an established, unimodal, pressure-based haptic device, the PATCH system was found to perform similarly in terms of recognition and saliency, but it was rated more favorably in terms of wearability. The PATCH device can display temperatures ranging from 17° C to 42° C, fitting the desired temperatures with an R2 = 0.75, and can display pulsed cues at a rate of 0.22 Hz. The success of our PATCH system can serve to inform the development of the next generation of multi-modal haptic devices.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"9 1","pages":"643-649"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85431979","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.HAP20.31.f7ecf8e2
M. Singhala, Jeremy D. Brown
The utility of telerobotic systems is driven in large part by the quality of feedback they provide to the operator. While the dynamic interaction between a robot and the environment can often be sensed or modeled, the dynamic coupling at the human-robot interface is often overlooked. Improving dexterous manipulation through telerobots will require careful consideration of human haptic perception as it relates to human exploration dynamics at the telerobotic interface. In this manuscript, we use exploration velocity as a means of controlling the operator’s exploration dynamics, and present results from two stiffness discrimination experiments designed to investigate the effects of exploration velocity on stiffness perception. The results indicate that stiffness percepts vary differently for different exploration velocities on an individual level, however, no consistent trends were found across all participants. These results suggest that exploration dynamics can affect the quality of haptic interactions through telerobotic interfaces, and also reflect the need to study the underlying mechanisms that cause our perception to vary with our choice of exploration strategy.
{"title":"Prefatory study of the effects of exploration dynamics on stiffness perception*","authors":"M. Singhala, Jeremy D. Brown","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.31.f7ecf8e2","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.31.f7ecf8e2","url":null,"abstract":"The utility of telerobotic systems is driven in large part by the quality of feedback they provide to the operator. While the dynamic interaction between a robot and the environment can often be sensed or modeled, the dynamic coupling at the human-robot interface is often overlooked. Improving dexterous manipulation through telerobots will require careful consideration of human haptic perception as it relates to human exploration dynamics at the telerobotic interface. In this manuscript, we use exploration velocity as a means of controlling the operator’s exploration dynamics, and present results from two stiffness discrimination experiments designed to investigate the effects of exploration velocity on stiffness perception. The results indicate that stiffness percepts vary differently for different exploration velocities on an individual level, however, no consistent trends were found across all participants. These results suggest that exploration dynamics can affect the quality of haptic interactions through telerobotic interfaces, and also reflect the need to study the underlying mechanisms that cause our perception to vary with our choice of exploration strategy.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"4 1","pages":"128-133"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85018351","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.HAP20.15.f6b89d66
Yurike Chandra, Benjamin Tag, R. Peiris, K. Minamizawa
This research is an exploratory work aimed at evaluating the ability of across-body vibration patterns to communicate emotions. We developed an affective haptic chair that allows seated users to feel tactile sensation around the upper and lower back, bottom, and leg area. We tested the system in two studies. The first study used 25 user-generated haptic patterns to represent five basic emotions, and suggested that across-body haptic patterns are effective in conveying emotions. In the second study, we tested four basic directional patterns identified in study 1 and validated the effect of up, down, left, and right movement on users’ emotional states. We observed an improvement in valence value from "up" movement, while the "down" movement was expressed to induce a sense of calmness in users. These findings could be useful in designing future affective furniture.
{"title":"Preliminary Investigation of Across-Body Vibrotactile Pattern for the Design of Affective Furniture","authors":"Yurike Chandra, Benjamin Tag, R. Peiris, K. Minamizawa","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.15.f6b89d66","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.15.f6b89d66","url":null,"abstract":"This research is an exploratory work aimed at evaluating the ability of across-body vibration patterns to communicate emotions. We developed an affective haptic chair that allows seated users to feel tactile sensation around the upper and lower back, bottom, and leg area. We tested the system in two studies. The first study used 25 user-generated haptic patterns to represent five basic emotions, and suggested that across-body haptic patterns are effective in conveying emotions. In the second study, we tested four basic directional patterns identified in study 1 and validated the effect of up, down, left, and right movement on users’ emotional states. We observed an improvement in valence value from \"up\" movement, while the \"down\" movement was expressed to induce a sense of calmness in users. These findings could be useful in designing future affective furniture.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"87 1","pages":"671-676"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78296025","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}
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