IEEE Transactions on Haptics最新文献

Phantom Illusion Based Vibrotactile Rendering of Affective Touch Patterns 基于幻影的振动触觉渲染情感触摸模式

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-09-15 DOI: 10.1109/TOH.2023.3315964

Robert Kirchner;Robert Rosenkranz;Brais Gonzalez Sousa;Shu-Chen Li;M. Ercan Altinsoy

{"title":"Phantom Illusion Based Vibrotactile Rendering of Affective Touch Patterns","authors":"Robert Kirchner;Robert Rosenkranz;Brais Gonzalez Sousa;Shu-Chen Li;M. Ercan Altinsoy","doi":"10.1109/TOH.2023.3315964","DOIUrl":"10.1109/TOH.2023.3315964","url":null,"abstract":"Physically accurate (authentic) reproduction of affective touch patterns on the forearm is limited by actuator technology. However, in most VR applications a direct comparison with actual touch is not possible. Here, the plausibility is only compared to the user's expectation. Focusing on the approach of plausible instead of authentic touch reproduction enables new rendering techniques, like the utilization of the phantom illusion to create the sensation of moving vibrations. Following this idea, a haptic armband array (4x2 vibrational actuators) was built to investigate the possibilities of recreating plausible affective touch patterns with vibration. The novel aspect of this work is the approach of touch reproduction with a parameterized rendering strategy, enabling the integration in VR. A first user study evaluates suitable parameter ranges for vibrational touch rendering. Duration of vibration and signal shape influence plausibility the most. A second user study found high plausibility ratings in a multimodal scenario and confirmed the expressiveness of the system. Rendering device and strategy are suitable for a various stroking patterns and applicable for emerging research on social affective touch reproduction.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"202-215"},"PeriodicalIF":2.4,"publicationDate":"2023-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10251997","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10650404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display 设计和评估用于三维皮肤滑动显示的可穿戴指尖设备。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-09-07 DOI: 10.1109/TOH.2023.3312661

Yiting Mo;Aiguo Song;Lifeng Zhu;Qinjie Ji;Ting Wang;Huanhuan Qin

{"title":"Design and Evaluation of a Wearable Fingertip Device for Three-Dimensional Skin-Slip Display","authors":"Yiting Mo;Aiguo Song;Lifeng Zhu;Qinjie Ji;Ting Wang;Huanhuan Qin","doi":"10.1109/TOH.2023.3312661","DOIUrl":"10.1109/TOH.2023.3312661","url":null,"abstract":"Skin-slip provides crucial cues about the interaction state and surface properties. Currently, most skin-slip devices focus on two-dimensional tactile slip display and have limitations when displaying surface properties like bumps and contours. In this article, a wearable fingertip device with a simple, effective, and low-cost design for three-dimensional skin-slip display is proposed. Continuous multi-directional skin-slip and normal indentation are combined to convey the sensation of three-dimensional geometric properties in virtual reality during active finger exploration. The device has a tactile belt, a five-bar mechanism, and four motors. Cooperating with the angle-mapping strategy, two micro DC motors are used to transmit continuous multi-directional skin-slip. Two servo motors are used to drive the five-bar mechanism to provide normal indentation. The characteristics of the device were obtained through the bench tests. Three experiments were designed and sequentially conducted to evaluate the performance of the device in three-dimensional surface exploration. The experimental results suggested that this device could effectively transmit continuous multi-directional skin-slip sensations, convey different bumps, and display surface contours.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"302-309"},"PeriodicalIF":2.4,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10182198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Assessment of a Bimanual Haptic Epidural Needle Insertion Simulator 双臂触觉硬膜外插针模拟器的设计与评估

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-09-07 DOI: 10.1109/TOH.2023.3312666

Nitsan Davidor;Yair Binyamin;Tamar Hayuni Kosovsky;Ilana Nisky

{"title":"Design and Assessment of a Bimanual Haptic Epidural Needle Insertion Simulator","authors":"Nitsan Davidor;Yair Binyamin;Tamar Hayuni Kosovsky;Ilana Nisky","doi":"10.1109/TOH.2023.3312666","DOIUrl":"10.1109/TOH.2023.3312666","url":null,"abstract":"The case experience of anesthesiologists is one of the leading causes of accidental dural punctures and failed epidurals-the most common complications of epidural analgesia used for pain relief during delivery. We designed a bimanual haptic simulator to train anesthesiologists and optimize epidural analgesia skill acquisition. We present an assessment study conducted with 22 anesthesiologists of different competency levels from several Israeli hospitals. Our simulator emulates the forces applied to the epidural (Touhy) needle, held by one hand, and those applied to the Loss of Resistance (LOR) syringe, held by the other one. The resistance is calculated based on a model of the epidural region layers parameterized by the weight of the patient. We measured the movements of both haptic devices and quantified the results' rate (success, failed epidurals, and dural punctures), insertion strategies, and the participants' answers to questionnaires about their perception of the simulation realism. We demonstrated good construct validity by showing that the simulator can distinguish between real-life novices and experts. Face and content validity were examined by studying users' impressions regarding the simulator's realism and fulfillment of purpose. We found differences in strategies between different level anesthesiologists, and suggest trainee-based instruction in advanced training stages.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"736-747"},"PeriodicalIF":2.9,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10182200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

FEELing (key)Pressed: Implicit Touch Pressure Bests Brain Activity for Modeling Emotion Dynamics in the Space Between Stressed & Relaxed 感受（关键）压力：内隐式触压在模拟紧张与放松之间的情绪动态时最有效的大脑活动。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-09-04 DOI: 10.1109/TOH.2023.3308059

X. Laura Cang;Rubia R. Guerra;Bereket Guta;Paul Bucci;Laura Rodgers;Hailey Mah;Qianqian Feng;Anushka Agrawal;Karon E. MacLean

{"title":"FEELing (key)Pressed: Implicit Touch Pressure Bests Brain Activity for Modeling Emotion Dynamics in the Space Between Stressed & Relaxed","authors":"X. Laura Cang;Rubia R. Guerra;Bereket Guta;Paul Bucci;Laura Rodgers;Hailey Mah;Qianqian Feng;Anushka Agrawal;Karon E. MacLean","doi":"10.1109/TOH.2023.3308059","DOIUrl":"10.1109/TOH.2023.3308059","url":null,"abstract":"In-body lived emotional experiences can be complex, with time-varying and dissonant emotions evolving simultaneously; devices responding in real-time to estimate personal human emotion should evolve accordingly. Models assuming generalized emotions exist as discrete states fail to operationalize valuable information inherent in the dynamic and individualistic nature of human emotions. Our multi-resolution emotion self-reporting procedure allows the construction of emotion labels along the Stressed-Relaxed scale, differentiating not only what the emotions are, but how they are transitioning – e.g., “hopeful but getting stressed” vs. “hopeful and starting to relax”. We trained participant-dependent hierarchical models of contextualized individual experience to compare emotion classification by modality (brain activity and keypress force from a physical keyboard), then benchmarked classification performance at F1-scores = [0.44, 0.82] (chance \u0000<inline-formula><tex-math>$F1=0.22$</tex-math></inline-formula>\u0000, \u0000<inline-formula><tex-math>$sigma =0.01$</tex-math></inline-formula>\u0000) and examined high-performing features. Notably, when classifying emotion evolution in the context of an experience that realistically varies in stress, pressure-based features from keypress force proved to be the more informative modality, and more convenient when considering intrusiveness and ease of collection and processing. Finally, we present our FEEL (Force, EEG and Emotion-Labelled) dataset, a collection of brain activity and keypress force data, labelled with self-reported emotion collected during tense videogame play (N = 16) and open-sourced for community exploration.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"310-318"},"PeriodicalIF":2.4,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10526171","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing 为理想的触摸目标设计触觉显示器：通过众包研究用户对触觉特性的期望。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-31 DOI: 10.1109/TOH.2023.3310662

Yusuke Ujitoko;Yuki Ban

{"title":"Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing","authors":"Yusuke Ujitoko;Yuki Ban","doi":"10.1109/TOH.2023.3310662","DOIUrl":"10.1109/TOH.2023.3310662","url":null,"abstract":"Things that people desire to touch in daily life are known to be limited to a number of specific targets (e.g., cats). The utilization of haptic displays to provide the experience of touching such desired targets is expected to enhance people's quality of life. However, it is currently unclear which haptic properties (e.g., hardness and weight) of desired targets should be rendered with haptic displays, and how they should be rendered. To address these issues, we conducted an experiment with 600 Japanese participants via crowdsourcing. Among the 600 participants, we identified potential users of haptic displays and analyzed their responses for each target. For each desired target, we identified the haptic properties in relation to which a “need for consistency” was felt by potential users between their expectations and actual impressions during touching. We also identified the haptic properties in relation to which a “biased impression” was held by potential users for each target. For example, potential users responded that cats were soft and that the actual impression of softness during touching needed to be consistent with their impression. Our results provide insights into the design of haptic displays for realizing desired touch experiences.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"726-735"},"PeriodicalIF":2.9,"publicationDate":"2023-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10236552","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10483292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sound Pressure Field Reconstruction for Airborne Ultrasound Tactile Display Encountering Obstacles 机载超声触觉显示器遇到障碍物时的声压场重构。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-30 DOI: 10.1109/TOH.2023.3309975

Jianyu Chen;Shun Suzuki;Tao Morisaki;Yutaro Toide;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda

{"title":"Sound Pressure Field Reconstruction for Airborne Ultrasound Tactile Display Encountering Obstacles","authors":"Jianyu Chen;Shun Suzuki;Tao Morisaki;Yutaro Toide;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda","doi":"10.1109/TOH.2023.3309975","DOIUrl":"10.1109/TOH.2023.3309975","url":null,"abstract":"Airborne ultrasound tactile display (AUTD) is used to provide non-contact tactile sensations with specific foci sound fields through the optimization of transducer phases. However, most existing optimization approaches are not directly applicable in case of an inhomogeneous medium, such as in the presence of obstacles between the AUTD and objective sound field. Certain methods can perform optimizations by considering the sound-scattering surfaces of the obstacles to compute the transmission matrix, which requires several complex measurements. This study proposed two methods to reconstruct the sound field under an inhomogeneous medium, wherein the need to calculate the impact of the obstacles was eliminated. The two methods are Bayesian optimization and greedy algorithm with brute-force search. Further, the process of the foci field generation was assumed as a black box. The proposed methods require only the pressure intensity at the control point generated by the input phases, discarding the need for transmission matrix in the presence of obstacles. Moreover, these methods offer the advantage of optimization of the phases in the presence of obstacles. This study explains the working of proposed methods in different forms of foci fields encountering obstacles.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"868-873"},"PeriodicalIF":2.9,"publicationDate":"2023-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10234563","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10494087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Macro-Fiber Composite-Based Tactors for Haptic Applications 用于触觉应用的基于宏纤维复合材料的触觉器。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-25 DOI: 10.1109/TOH.2023.3308789

Alain Boldini;John-Ross Rizzo;Maurizio Porfiri

{"title":"Macro-Fiber Composite-Based Tactors for Haptic Applications","authors":"Alain Boldini;John-Ross Rizzo;Maurizio Porfiri","doi":"10.1109/TOH.2023.3308789","DOIUrl":"10.1109/TOH.2023.3308789","url":null,"abstract":"Haptic technology is a critical component of human-computer interfaces. Traditional haptic actuators are often unable to provide the broad frequency range and latency that is required in many advanced applications. To address this problem, we propose a new type of tactor based on macro-fiber composites (MFCs), composites of piezoelectric fibers. We propose a physics-based model for the actuation of the tactors, calibrated and validated through experiments. As our tactors are intended for haptic applications, we consider the role of skin on their response, an aspect seldom analyzed in the literature. In our experiments, we simulate the presence of the skin with a rubber membrane in contact with the tactor, with varying pre-stretch, mimicking different indentations of the tactor on the skin. The MFC-based tactor can always generate vibration amplitudes higher than skin discrimination thresholds, over the range of frequencies of interest for haptics, with a latency much smaller than traditional actuators. We theoretically investigate the effect of the skin on tactor vibrations, highlighting the individual roles of skin stiffness and damping and their combined effect across a series of pre-stretches. Our tactor shows promise in haptic applications, including assistive technologies and real-time feedback systems for training, safety, and monitoring.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 3","pages":"436-448"},"PeriodicalIF":2.9,"publicationDate":"2023-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10478533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Validation of a Soft Pneumatic Unit Cell (PUC) in a VR Experience: A Comparison Between Vibrotactile and Soft Pneumatic Haptic Feedback 在 VR 体验中验证软气动单元（PUC）：振动触觉与软气动触觉反馈的比较。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-23 DOI: 10.1109/TOH.2023.3307872

Femke E. van Beek;Quinten P. I. Bisschop;Irene A. Kuling

{"title":"Validation of a Soft Pneumatic Unit Cell (PUC) in a VR Experience: A Comparison Between Vibrotactile and Soft Pneumatic Haptic Feedback","authors":"Femke E. van Beek;Quinten P. I. Bisschop;Irene A. Kuling","doi":"10.1109/TOH.2023.3307872","DOIUrl":"10.1109/TOH.2023.3307872","url":null,"abstract":"Soft pneumatic displays have shown to provide compelling soft haptic feedback. However, they have rarely been tested in Virtual Reality applications, while we are interested in their potential for haptic feedback in the metaverse. Therefore, we designed a fully soft Pneumatic Unit Cell (PUC) and implemented it in a VR button task, in which users could directly use their hands for interaction. Twelve participants were asked to enter six-digit sequences, while being presented with PUC feedback, vibration feedback (VT), or no haptic feedback. Metrics on task performance, kinematics and cognitive load were collected. The results show that both vibration and PUC feedback resulted in participants pressing through the back of buttons less. The kinematic data showed that participants moved more smoothly during PUC feedback compared to vibration feedback. These effects were also reflected in the questionnaire data: participants felt more successful when using either PUCs or VTs, but they perceived the lowest level of stress when using PUCs. Feedback preference ratings also showed that PUC was the most preferred kind of feedback. Concluding, our array of metrics confirm that PUCs are good alternatives for haptic feedback in VR tasks in which electromechanical vibration motors typically excel: creating virtual button clicks.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"191-201"},"PeriodicalIF":2.4,"publicationDate":"2023-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10061449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Competition Increases the Effort Put Into a Physical Interaction Task 竞争会增加身体互动任务的努力程度

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-21 DOI: 10.1109/TOH.2023.3306794

Atsushi Takagi;Carlo Bagnato;Alejandro Melendez-Calderon;Nathanaël Jarrassé;Gowrishankar Ganesh;Etienne Burdet

{"title":"Competition Increases the Effort Put Into a Physical Interaction Task","authors":"Atsushi Takagi;Carlo Bagnato;Alejandro Melendez-Calderon;Nathanaël Jarrassé;Gowrishankar Ganesh;Etienne Burdet","doi":"10.1109/TOH.2023.3306794","DOIUrl":"10.1109/TOH.2023.3306794","url":null,"abstract":"Physical interaction can enhance motor learning, but it remains unclear what type of interaction is best suited to increasing the active effort put into a task, which should support learning. Here, we used the same interactive tracking task with different instructions to induce three training conditions: competition, collaboration, and self-improvement, where partners improve their own performance while interacting haptically with each other. The effort was gauged by measuring the total normalized muscle activity. Feedback of task performance and the haptic dynamics were identical in all three training conditions, so the effort needed to complete the task was the same. Only the instructions to ‘compete with the partner’, ‘improve your and your partner's accuracy’ and ‘improve your accuracy’ were different among the competition, collaboration, and self-improvement conditions, respectively. Despite having the same goal of maximizing self-performance during competition and self-improvement, participants exerted significantly more effort during competition, and their tracking accuracy was highest during competitive practice. Least effort was put into collaboration but tracking accuracy during collaboration was comparable to self-improvement. Our results suggest that interactive haptic competition can induce higher active drive or effort than either collaborative training or self-focused practice.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"16 4","pages":"719-725"},"PeriodicalIF":2.9,"publicationDate":"2023-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10395050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft Pneumatic Haptic Wearable to Create the Illusion of Human Touch 软质气动触觉可穿戴设备，营造人类触摸的错觉。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2023-08-15 DOI: 10.1109/TOH.2023.3305495

Aishwari Talhan;Yongjae Yoo;Jeremy R. Cooperstock

引用次数: 0