Pub Date : 2020-03-01DOI: 10.1109/HAPTICS45997.2020.ras.HAP20.11.2032900c
Casimir Smith, Evan Pezent, M. O'Malley
Haptic devices enable multi-modal feedback to a user when training to perform novel motor skills in controlled, virtual environments. Haptic feedback has been proposed as a means to provide additional guidance cues that might improve training efficacy; however, recent studies have identified drawbacks to haptic guidance, including reliance on guidance forces and an inability to distinguish between forces that are part of the virtual environment and those that communicate task completion strategies. Recently, we proposed a novel approach to providing haptic guidance that separates task and guidance forces. We used a kinesthetic haptic interface to communicate task forces and a spatially separated tactile skin-stretch device to transmit guidance forces. Our experiments showed that feed-forward control using this paradigm was effective for improving performance in a trajectory following task. In this paper, we explore the potential for spatially separated cutaneous haptic guidance to train a user to optimally control an inverted pendulum system. We present and execute a task and training protocol designed to determine whether error-based haptic feedback provided cutaneously can accelerate learning of a task, and whether participants can retain or transfer task skills even after guidance is no longer present. We found that subject performance improved while spatially separated cutaneous haptic guidance was active. Despite this finding, performance in the pendulum balancing task was not affected once the haptic assistance was removed.
{"title":"Spatially Separated Cutaneous Haptic Guidance for Training of a Virtual Sensorimotor Task","authors":"Casimir Smith, Evan Pezent, M. O'Malley","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.11.2032900c","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.11.2032900c","url":null,"abstract":"Haptic devices enable multi-modal feedback to a user when training to perform novel motor skills in controlled, virtual environments. Haptic feedback has been proposed as a means to provide additional guidance cues that might improve training efficacy; however, recent studies have identified drawbacks to haptic guidance, including reliance on guidance forces and an inability to distinguish between forces that are part of the virtual environment and those that communicate task completion strategies. Recently, we proposed a novel approach to providing haptic guidance that separates task and guidance forces. We used a kinesthetic haptic interface to communicate task forces and a spatially separated tactile skin-stretch device to transmit guidance forces. Our experiments showed that feed-forward control using this paradigm was effective for improving performance in a trajectory following task. In this paper, we explore the potential for spatially separated cutaneous haptic guidance to train a user to optimally control an inverted pendulum system. We present and execute a task and training protocol designed to determine whether error-based haptic feedback provided cutaneously can accelerate learning of a task, and whether participants can retain or transfer task skills even after guidance is no longer present. We found that subject performance improved while spatially separated cutaneous haptic guidance was active. Despite this finding, performance in the pendulum balancing task was not affected once the haptic assistance was removed.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"118 1","pages":"974-979"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87610492","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}
Contracture is diagnosed by doctors or physical therapists through palpation on slidability of patient’s joints. However, the diagnosis depends on tactile perception of each therapist and subjective. Quantifying contracture palpation can increase diagnosis accuracy and improve its efficiency. This paper proposes a contracture diagnosis system with a wearable skin vibration sensor. The sensor is worn on the finger pad of the therapist, allowing the therapist to touch patient’s joint for the contracture palpation with his/her bare fingertip. The sensor detects frictional vibration induced by sliding disturbance of the soft tissue around the joint when the patient’s arm or leg is moved. The system comprises the sensor, an audio interface, and a PC. The sensor output based on the frictional vibration is intermittent pulse waveform, and mean pulse density in the sensor output during the palpation is proposed for the evaluation. Experimental results on knee, shoulder and waist by a well-trained physical therapist show that the obtained pulse density has a good relation with subjective ratings and is consistent with the transition of the friction vibration according to increasing the repeated number of the palpation. These results indicate the availability and validity of the sensor system.
{"title":"Contracture diagnosis system using wearable tactile sensor","authors":"Takahiro Suzuki, Yoshihiro Tanaka, Kazuhiro Niwa, Takafumi Saito","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.30.e3168045","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.30.e3168045","url":null,"abstract":"Contracture is diagnosed by doctors or physical therapists through palpation on slidability of patient’s joints. However, the diagnosis depends on tactile perception of each therapist and subjective. Quantifying contracture palpation can increase diagnosis accuracy and improve its efficiency. This paper proposes a contracture diagnosis system with a wearable skin vibration sensor. The sensor is worn on the finger pad of the therapist, allowing the therapist to touch patient’s joint for the contracture palpation with his/her bare fingertip. The sensor detects frictional vibration induced by sliding disturbance of the soft tissue around the joint when the patient’s arm or leg is moved. The system comprises the sensor, an audio interface, and a PC. The sensor output based on the frictional vibration is intermittent pulse waveform, and mean pulse density in the sensor output during the palpation is proposed for the evaluation. Experimental results on knee, shoulder and waist by a well-trained physical therapist show that the obtained pulse density has a good relation with subjective ratings and is consistent with the transition of the friction vibration according to increasing the repeated number of the palpation. These results indicate the availability and validity of the sensor system.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"9 1","pages":"955-960"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72699323","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.HAP20.14.cecd307b
Navid Fallahinia, S. Mascaro
Fingernail imaging has been shown to be effective in estimating three-dimensional tactile forces when the finger pad is pressed against a flat surface. However, the effectiveness of this method when touching curved surfaces has not been comprehensively established. The objective of this paper is to independently investigate the possible changes in the calibration model and force estimation error due to the variation in contact surface curvature. In this study, experiments are conducted using 18 different surfaces by changing their radii of curvature in two axes. The experimental results show a maximum RMS validation error of 0.61N and 0.59N for calibration with a spherical and a flat surface, respectively in all three force dimensions (10% of the full range of forces) for radii of curvature greater than 7mm, with curvature having no significant effect on force estimation error in this range. As the surface becomes sharply curved (r<7mm), the force estimation error significantly degrades. Therefore this paper establishes a clear range of surface curvatures for which the fingernail imaging method is robust, enabling this method to be used in tactile experiments with curved surfaces.
{"title":"The Effect of Contact Surface Curvature on The Accuracy of Fingernail Imaging for Tactile Force Measurement","authors":"Navid Fallahinia, S. Mascaro","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.14.cecd307b","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.14.cecd307b","url":null,"abstract":"Fingernail imaging has been shown to be effective in estimating three-dimensional tactile forces when the finger pad is pressed against a flat surface. However, the effectiveness of this method when touching curved surfaces has not been comprehensively established. The objective of this paper is to independently investigate the possible changes in the calibration model and force estimation error due to the variation in contact surface curvature. In this study, experiments are conducted using 18 different surfaces by changing their radii of curvature in two axes. The experimental results show a maximum RMS validation error of 0.61N and 0.59N for calibration with a spherical and a flat surface, respectively in all three force dimensions (10% of the full range of forces) for radii of curvature greater than 7mm, with curvature having no significant effect on force estimation error in this range. As the surface becomes sharply curved (r<7mm), the force estimation error significantly degrades. Therefore this paper establishes a clear range of surface curvatures for which the fingernail imaging method is robust, enabling this method to be used in tactile experiments with curved surfaces.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"75 1","pages":"760-766"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89904022","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.HAP20.26.5d3bec79
Saber Sheybani, E. Izquierdo, Eatai Roth
Many cooperative physical tasks require that individuals play specialized roles (e.g., leader-follower). Humans are adept cooperators, negotiating these roles and transitions between roles innately. Yet how roles are delegated and reassigned is not well understood. Using a genetic algorithm, we evolve simulated agents to explore a space of feasible role-switching policies. Applying these switching policies in a cooperative manual task, agents process visual and haptic cues to decide when to switch roles. We then analyze the evolved virtual population for attributes typically associated with cooperation: load sharing and temporal coordination. We find that the best performing dyads exhibit high temporal coordination (anti-synchrony). And in turn, anti-synchrony is correlated to symmetry between the parameters of the cooperative agents. These simulations furnish hypotheses as to how human cooperators might mediate roles in dyadic tasks.
{"title":"Evolving Dyadic Strategies for a Cooperative Physical Task","authors":"Saber Sheybani, E. Izquierdo, Eatai Roth","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.26.5d3bec79","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.26.5d3bec79","url":null,"abstract":"Many cooperative physical tasks require that individuals play specialized roles (e.g., leader-follower). Humans are adept cooperators, negotiating these roles and transitions between roles innately. Yet how roles are delegated and reassigned is not well understood. Using a genetic algorithm, we evolve simulated agents to explore a space of feasible role-switching policies. Applying these switching policies in a cooperative manual task, agents process visual and haptic cues to decide when to switch roles. We then analyze the evolved virtual population for attributes typically associated with cooperation: load sharing and temporal coordination. We find that the best performing dyads exhibit high temporal coordination (anti-synchrony). And in turn, anti-synchrony is correlated to symmetry between the parameters of the cooperative agents. These simulations furnish hypotheses as to how human cooperators might mediate roles in dyadic tasks.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"12 1","pages":"684-689"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81671246","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.HAP20.12.af578b0a
P. Dills, Nick Colonnese, Priyanshu Agarwal, M. Zinn
Handheld haptic devices are often limited in rendering capability, as compared to traditional grounded devices. Strenuous design criteria on weight, size, power consumption, and the ungrounded nature of handheld devices, can drive designers to prioritize actuator force or torque production over other components of dynamic range like bandwidth, transparency, and the range of stable impedances. Hybrid actuation, the use of passive and active actuators together, has the potential to increase the dynamic range of handheld haptic devices due to the large passive torque capability, the stabilizing effects of passive actuators, the high bandwidth of conventional DC servomotors, and the synergy between actuators. However, to date the use of hybrid actuation has been limited due to the highly nonlinear torque characteristics of available passive actuators that result in poor rendering accuracy. This paper describes a hybrid actuation approach and novel control topology which aims to solve actuation challenges associated with nonlinear passive actuators in hybrid and handheld haptic devices. The performance of the device is assessed experimentally, and the approach is compared to existing handheld devices.
{"title":"A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics","authors":"P. Dills, Nick Colonnese, Priyanshu Agarwal, M. Zinn","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.12.af578b0a","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.12.af578b0a","url":null,"abstract":"Handheld haptic devices are often limited in rendering capability, as compared to traditional grounded devices. Strenuous design criteria on weight, size, power consumption, and the ungrounded nature of handheld devices, can drive designers to prioritize actuator force or torque production over other components of dynamic range like bandwidth, transparency, and the range of stable impedances. Hybrid actuation, the use of passive and active actuators together, has the potential to increase the dynamic range of handheld haptic devices due to the large passive torque capability, the stabilizing effects of passive actuators, the high bandwidth of conventional DC servomotors, and the synergy between actuators. However, to date the use of hybrid actuation has been limited due to the highly nonlinear torque characteristics of available passive actuators that result in poor rendering accuracy. This paper describes a hybrid actuation approach and novel control topology which aims to solve actuation challenges associated with nonlinear passive actuators in hybrid and handheld haptic devices. The performance of the device is assessed experimentally, and the approach is compared to existing handheld devices.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"26 1","pages":"690-697"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86382232","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.HAP20.28.cd53ecaf
Taku Hachisu, Gregory Reardon, Yitian Shao, Kenji Suzuki, Y. Visell
Interpersonal touch is critical for health, development, and social relationships. An emerging opportunity in haptics is to design methods for augmenting interpersonal touch. Recently, we presented an actuated smart bracelet for transmitting vibrations through the hand of one person, as feedback to the hand of a second person, during a social interaction such as a handshake. Here, we present an investigation of human factors of vibrotactile feedback provided between people. In two experiments, we studied mechanical transmission of vibrations through a first person (the transmitter) and the perception of these vibrations by a second person (the receiver) who is touching the transmitter’s hand. We found that a receiver could readily perceive vibrotactile feedback when touching different locations on the transmitter’s hand. The magnitude of the transmitter’s skin acceleration was highly correlated with intensity the receiver perceived (Pearson’s R = 0.737). We found both perception and mechanics to depend on the driving signal characteristics and the direction in which the transmitter’s skin was actuated (at the wrist) to produce the vibrations. Low-frequency vibrations (50 and 100 Hz) were more readily perceived than higher frequencies (200 Hz). Vibrations produced by normal-direction actuation elicited perceptual responses that were less variable than those produced by tangential actuation. In addition, vibrations produced by tangential actuation at the wrist were felt to be very strong when a receiver touches the palm or base of the transmitter’s hand, but were felt to be weaker near the transmitter’s fingers. This study elucidates human factors for vibrotactile feedback between two people, and holds implications for the design of haptic technologies for the augmentation of interpersonal touch.
人际接触对健康、发展和社会关系至关重要。触觉学的一个新兴机会是设计增强人际接触的方法。最近，我们展示了一种驱动型智能手环，它可以在握手等社交互动过程中，通过一个人的手传递振动，作为对另一个人的手的反馈。在此，我们对人与人之间的触觉振动反馈的人为因素进行了研究。在两个实验中，我们研究了振动通过第一个人(发送者)的机械传递，以及第二个人(接收者)触摸发送者的手对这些振动的感知。我们发现，当接收器触摸发射器手上的不同位置时，接收器可以很容易地感知到振动触觉反馈。发射器皮肤加速度的大小与接收器感知到的强度高度相关(Pearson’s R = 0.737)。我们发现感知和力学都取决于驱动信号的特性和发射器皮肤被驱动(手腕处)产生振动的方向。低频振动(50和100赫兹)比高频振动(200赫兹)更容易被感知。法向驱动产生的振动引起的感知反应比切向驱动产生的振动变化更小。此外，当接收器接触到发送者的手掌或手底时，手腕上的切向驱动产生的振动感觉非常强烈，但在发送者的手指附近感觉较弱。本研究阐明了两个人之间振动触觉反馈的人为因素，并对增强人际触觉的触觉技术设计具有启示意义。
{"title":"Interpersonal Vibrotactile Feedback via Waves Transmitted through the Skin: Mechanics and Perception","authors":"Taku Hachisu, Gregory Reardon, Yitian Shao, Kenji Suzuki, Y. Visell","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.28.cd53ecaf","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.28.cd53ecaf","url":null,"abstract":"Interpersonal touch is critical for health, development, and social relationships. An emerging opportunity in haptics is to design methods for augmenting interpersonal touch. Recently, we presented an actuated smart bracelet for transmitting vibrations through the hand of one person, as feedback to the hand of a second person, during a social interaction such as a handshake. Here, we present an investigation of human factors of vibrotactile feedback provided between people. In two experiments, we studied mechanical transmission of vibrations through a first person (the transmitter) and the perception of these vibrations by a second person (the receiver) who is touching the transmitter’s hand. We found that a receiver could readily perceive vibrotactile feedback when touching different locations on the transmitter’s hand. The magnitude of the transmitter’s skin acceleration was highly correlated with intensity the receiver perceived (Pearson’s R = 0.737). We found both perception and mechanics to depend on the driving signal characteristics and the direction in which the transmitter’s skin was actuated (at the wrist) to produce the vibrations. Low-frequency vibrations (50 and 100 Hz) were more readily perceived than higher frequencies (200 Hz). Vibrations produced by normal-direction actuation elicited perceptual responses that were less variable than those produced by tangential actuation. In addition, vibrations produced by tangential actuation at the wrist were felt to be very strong when a receiver touches the palm or base of the transmitter’s hand, but were felt to be weaker near the transmitter’s fingers. This study elucidates human factors for vibrotactile feedback between two people, and holds implications for the design of haptic technologies for the augmentation of interpersonal touch.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"1 1","pages":"650-656"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90260767","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.HAP20.24.f5c34a19
Delara Mohtasham, Gokul Narayanan, B. Çalli, A. Spiers
Though it is common for robots to rely on vision for object feature estimation, there are environments where optical sensing performs poorly, due to occlusion, poor lighting or limited space for camera placement. Haptic sensing in robotics has a long history, but few approaches have combined this with within-hand-manipulation (WIHM), in order to expose more features of an object to the tactile sensing elements of the hand. As in the human hand, these sensing structures are generally non-homogenous in their coverage of a gripper's manipulation surfaces, as the sensitivity of some hand or finger regions is often different to other regions. In this work we use a modified version of the recently developed 2-finger Model VF (variable friction) robot gripper to acquire tactile information while rolling objects within the robot's grasp. This new gripper has one high-friction passive finger surface and one high-friction tactile sensing surface, equipped with 12 low-cost barometric force sensors encased in urethane. We have developed algorithms that use the data generated during these rolling actions to determine parametric aspects of the object under manipulation. Namely, two parameters are currently determined 1) the location of an object within the grasp 2) the object's shape (from three alternatives). The algorithms were first developed on a static test rig with passive object rolling and later evaluated with the robot gripper platform using active WIHM, which introduced artifacts into the data. With an object set consisting of 3 shapes and 5 sizes, an overall shape estimation accuracy was achieved of 88% and 78% for the test rig and hand respectively. Location estimation, of each object's centroid during motion, achieved a mean error of less than 2mm, along the 95mm length of the tactile sensing finger.
{"title":"Haptic Object Parameter Estimation during Within-Hand- Manipulation with a Simple Robot Gripper","authors":"Delara Mohtasham, Gokul Narayanan, B. Çalli, A. Spiers","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.24.f5c34a19","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.24.f5c34a19","url":null,"abstract":"Though it is common for robots to rely on vision for object feature estimation, there are environments where optical sensing performs poorly, due to occlusion, poor lighting or limited space for camera placement. Haptic sensing in robotics has a long history, but few approaches have combined this with within-hand-manipulation (WIHM), in order to expose more features of an object to the tactile sensing elements of the hand. As in the human hand, these sensing structures are generally non-homogenous in their coverage of a gripper's manipulation surfaces, as the sensitivity of some hand or finger regions is often different to other regions. In this work we use a modified version of the recently developed 2-finger Model VF (variable friction) robot gripper to acquire tactile information while rolling objects within the robot's grasp. This new gripper has one high-friction passive finger surface and one high-friction tactile sensing surface, equipped with 12 low-cost barometric force sensors encased in urethane. We have developed algorithms that use the data generated during these rolling actions to determine parametric aspects of the object under manipulation. Namely, two parameters are currently determined 1) the location of an object within the grasp 2) the object's shape (from three alternatives). The algorithms were first developed on a static test rig with passive object rolling and later evaluated with the robot gripper platform using active WIHM, which introduced artifacts into the data. With an object set consisting of 3 shapes and 5 sizes, an overall shape estimation accuracy was achieved of 88% and 78% for the test rig and hand respectively. Location estimation, of each object's centroid during motion, achieved a mean error of less than 2mm, along the 95mm length of the tactile sensing finger.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"39 1","pages":"140-147"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84815914","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.HAP20.36.d8bb0c58
Naghmeh Zamani, Pooja Moolchandani, Naomi T. Fitter, Heather Culbertson
Touch between people is essential for forming bonds and communicating emotions. However, it is currently missing in human-robot interactions due to issues with reliability and safety. As robotics transitions to home and service sectors, it is increasingly important to design guidelines and models for human-robot social touch. This paper aims to determine how variations in the motions a robot uses while patting the user’s forearm or shoulder affect perception and acceptance of the interaction. We conducted a study with N=10 participants using a Sawyer robot with a hand-like end-effector, varying the force, speed, location, and pause duration of the pat. Participants rated perceived safety, valence, arousal, and dominance of each pat condition. Using these results, we propose guidelines for creating interactions that feel safe and non-dominant using low-speed and low-force trajectories. These results will be useful in helping HRI designers create appropriate human-robot social touch interactions.
{"title":"Effects of Motion Parameters on Acceptability of Human-Robot Patting Touch","authors":"Naghmeh Zamani, Pooja Moolchandani, Naomi T. Fitter, Heather Culbertson","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.36.d8bb0c58","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.36.d8bb0c58","url":null,"abstract":"Touch between people is essential for forming bonds and communicating emotions. However, it is currently missing in human-robot interactions due to issues with reliability and safety. As robotics transitions to home and service sectors, it is increasingly important to design guidelines and models for human-robot social touch. This paper aims to determine how variations in the motions a robot uses while patting the user’s forearm or shoulder affect perception and acceptance of the interaction. We conducted a study with N=10 participants using a Sawyer robot with a hand-like end-effector, varying the force, speed, location, and pause duration of the pat. Participants rated perceived safety, valence, arousal, and dominance of each pat condition. Using these results, we propose guidelines for creating interactions that feel safe and non-dominant using low-speed and low-force trajectories. These results will be useful in helping HRI designers create appropriate human-robot social touch interactions.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"6 1","pages":"664-670"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84917373","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.HAP20.21.03302a8d
Antoine Weill--Duflos, Sophia Sakr, S. Haliyo, S. Régnier
Sensory adaptation is a phenomenon well known for most of the senses and may be a way to optimize the encoding of sensory signals for the finite processing resources of the neural system. The occurrences are documented in the case of hearing, smell, taste, sight, and certain modalities of the sense of touch. For example, it is well known that our eyes adjust between darker and brighter environments. We are specifically interested in the case of sensory adaptation in the kinaesthetic system and the way it applies to forces. We make the hypothesis of the existence of kinaesthetic sensory adaptation. The specific hypothesis is that instead of knowing the absolute magnitude of a force we are sensitive to changes. To determine the existence of sensory adaptation to forces as well as its properties we led a pilot and two experiments. The experiments involved 58 participants, 48 participant’s results were analyzed. From the results, we were able to find the proof of a form of sensory adaptation to kinaesthetic feedback. This phenomenon can be seen as a high-pass filter with a time constant of 14 s. These findings can find application in algorithms to reduce the energy needed for force feedback devices by slowly decreasing the force, similarly to the "wash-out" filter in motion simulators.
{"title":"Evidence of Sensory Adaptation to Kinaesthetic Sensations in the Human Somatosensory System","authors":"Antoine Weill--Duflos, Sophia Sakr, S. Haliyo, S. Régnier","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.21.03302a8d","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.21.03302a8d","url":null,"abstract":"Sensory adaptation is a phenomenon well known for most of the senses and may be a way to optimize the encoding of sensory signals for the finite processing resources of the neural system. The occurrences are documented in the case of hearing, smell, taste, sight, and certain modalities of the sense of touch. For example, it is well known that our eyes adjust between darker and brighter environments. We are specifically interested in the case of sensory adaptation in the kinaesthetic system and the way it applies to forces. We make the hypothesis of the existence of kinaesthetic sensory adaptation. The specific hypothesis is that instead of knowing the absolute magnitude of a force we are sensitive to changes. To determine the existence of sensory adaptation to forces as well as its properties we led a pilot and two experiments. The experiments involved 58 participants, 48 participant’s results were analyzed. From the results, we were able to find the proof of a form of sensory adaptation to kinaesthetic feedback. This phenomenon can be seen as a high-pass filter with a time constant of 14 s. These findings can find application in algorithms to reduce the energy needed for force feedback devices by slowly decreasing the force, similarly to the \"wash-out\" filter in motion simulators.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"29 1","pages":"724-730"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76778779","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.HAP20.2.4ff61dc8
Xiao Xu, M. Panzirsch, Li-Yu Daisy Liu, E. Steinbach
This paper proposes a novel solution for teleoperation over communication networks in the presence of communication unreliabilities (e.g. delay, delay jitter, cross-traffic data streams). For teleoperation over a communication network, high packet rate and system stability are the two main issues. The former leads to inefficient data transmission and cross-traffic problems, resulting in additional delay and jitter, which aggravates the latter issue. In this paper, we first propose a novel joint solution which combines the state-of-the-art power-based time-domain passivity approach (TDPA) with the perceptual-deadband haptic data reduction approach to realize teleoperation over communication networks. Since this joint solution can lead to reduced energy output and poorer force tracking, we further propose an energy-based TDPA and a time-triggered update scheme to mitigate these artifacts and improve the overall system performance. Experimental results show that the proposed solution strongly reduces the packet rate and performs better than TDPA without data reduction, when adopted in a teleoperation system over a campus WiFi network. Compared with the previous work [1], our method is less conservative and has better force tracking capabilities.
{"title":"Integrating Haptic Data Reduction with Energy Reflection-Based Passivity Control for Time-delayed Teleoperation","authors":"Xiao Xu, M. Panzirsch, Li-Yu Daisy Liu, E. Steinbach","doi":"10.1109/HAPTICS45997.2020.ras.HAP20.2.4ff61dc8","DOIUrl":"https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.2.4ff61dc8","url":null,"abstract":"This paper proposes a novel solution for teleoperation over communication networks in the presence of communication unreliabilities (e.g. delay, delay jitter, cross-traffic data streams). For teleoperation over a communication network, high packet rate and system stability are the two main issues. The former leads to inefficient data transmission and cross-traffic problems, resulting in additional delay and jitter, which aggravates the latter issue. In this paper, we first propose a novel joint solution which combines the state-of-the-art power-based time-domain passivity approach (TDPA) with the perceptual-deadband haptic data reduction approach to realize teleoperation over communication networks. Since this joint solution can lead to reduced energy output and poorer force tracking, we further propose an energy-based TDPA and a time-triggered update scheme to mitigate these artifacts and improve the overall system performance. Experimental results show that the proposed solution strongly reduces the packet rate and performs better than TDPA without data reduction, when adopted in a teleoperation system over a campus WiFi network. Compared with the previous work [1], our method is less conservative and has better force tracking capabilities.","PeriodicalId":6796,"journal":{"name":"2020 IEEE Haptics Symposium (HAPTICS)","volume":"704 1","pages":"109-114"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74760632","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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