IEEE Transactions on Haptics最新文献

Perceptual Constancy in the Speed Dependence of Friction During Active Tactile Exploration 主动触觉探索过程中摩擦速度依赖性的感知恒定性

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-11-07 DOI: 10.1109/TOH.2024.3493421

Maja Fehlberg;Eva Monfort;Sairam Saikumar;Knut Drewing;Roland Bennewitz

引用次数: 0

HM-Array: A Novel Haptic Magnetism-based Leader-follower Platform for Minimally Invasive Robotic Surgery. HM-Array：用于微创机器人手术的基于触觉磁力的新型领导者-追随者平台。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-11-07 DOI: 10.1109/TOH.2024.3493629

Wenda Zhao, Yuanrui Huang, Xionghuan Luo, Hongbin Liu

引用次数: 0

A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks. 用于产生力和扭矩反馈并确定其方向的新型非接地触觉装置

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-11-07 DOI: 10.1109/TOH.2024.3493377

Keyvan Arezoo, Bahram Tarvirdizadeh, Khalil Alipour, Alireza Hadi, Jamal Arezoo

{"title":"A Novel Ungrounded Haptic Device for Generation and Orientation of Force and Torque Feedbacks.","authors":"Keyvan Arezoo, Bahram Tarvirdizadeh, Khalil Alipour, Alireza Hadi, Jamal Arezoo","doi":"10.1109/TOH.2024.3493377","DOIUrl":"https://doi.org/10.1109/TOH.2024.3493377","url":null,"abstract":"To provide deeper immersion for the user in the virtual environments, both force and torque feedbacks are required rather than the mere use of visual and auditory ones. In this paper, we develop a novel propeller-based Ungrounded Handheld Haptic Device (UHHD) that delivers both force and torque feedbacks in one device to help the user experience a realistic sensation of immersion in a three-dimensional (3D) space. The proposed UHHD uses only a pair of propellers and a set of sliders to continuously generate the desired force and torque feedbacks up to 15N and 1N.m in magnitude in less than 370ms, respectively. The produced force and torque feedbacks are oriented in a desired direction using a gimbal mechanism where the propellers are mounted inside in such a way that a simple structure is obtained. These features facilitate the control of the proposed UHHD and enhance its practicality in various applications. To prove the capability of the system, we model it and elaborate on the force and torque analyses. Next, we develop a robust parallel force/position controller to tackle the structured and unstructured uncertainties. Finally, a measurement setup is manufactured to experimentally evaluate the performance of the UHHD and the controller. The implementation of the controller on the developed UHHD prototype shows that a satisfactory control performance is achievable in terms of offering the desired force and torque feedbacks.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142603881","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

A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis 用于结节检测训练的视觉-触觉系统：脑电图和行为分析的启示。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-11-05 DOI: 10.1109/TOH.2024.3487522

Serena Ricci;Daniele Torrigino;Michele Minuto;Maura Casadio

{"title":"A Visuo-Haptic System for Nodule Detection Training: Insights From EEG and Behavioral Analysis","authors":"Serena Ricci;Daniele Torrigino;Michele Minuto;Maura Casadio","doi":"10.1109/TOH.2024.3487522","DOIUrl":"10.1109/TOH.2024.3487522","url":null,"abstract":"Medical palpation is a key skill for clinicians. It is typically trained using animal and synthetic models, which however raise ethical concerns and produce high volumes of consumables. An alternative could be visuo-haptic simulations, despite their training efficacy has not been proved yet. The assessment of palpatory skills requires objective methods, that can be achieved by combining performance metrics with electroencephalography (EEG). The goals of this study were to: (i) develop a visuo-haptic system to train nodule detection, combining a Geomagic Touch haptic device with a visuo-haptic simulation of a skin patch and a nodule, implemented using SOFA framework; (ii) assess whether this system could be used for training and evaluation. To do so, we collected performance and EEG data of 19 subjects performing multiple repetitions of a nodule detection task. Results revealed that participants could be divided in low and high performers; the former applied a greater pressure when looking for the nodule and showed a higher EEG alpha (8.5 – 13 \u0000<inline-formula><tex-math>$mathrm{Hz}$</tex-math></inline-formula>\u0000) peak at rest; The latter explored the skin remaining on its surface and were characterized by low alpha power. Furthermore, alpha power positively correlated with error and negatively with palpation depth. Altogether, these results suggest that alpha power might be an indicator of performance, denoting an increase in vigilance, attention, information processing, cognitive processes, and engagement, ultimately affecting strategy and performance. Also, the combination of EEG with performance data can provide an objective measure of the user's palpation ability.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"946-956"},"PeriodicalIF":2.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142582940","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

A Generalized Tracking Wall Approach to the Haptic Simulation of Tip Forces During Needle Insertion. 针头插入过程中针尖力触觉模拟的广义跟踪壁方法。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-11-05 DOI: 10.1109/TOH.2024.3487000

Benjamin Delbos, Remi Chalard, Arnaud Leleve, Richard Moreau

{"title":"A Generalized Tracking Wall Approach to the Haptic Simulation of Tip Forces During Needle Insertion.","authors":"Benjamin Delbos, Remi Chalard, Arnaud Leleve, Richard Moreau","doi":"10.1109/TOH.2024.3487000","DOIUrl":"https://doi.org/10.1109/TOH.2024.3487000","url":null,"abstract":"Haptic simulation of needle insertion requires both a needle-tissue interaction model and a method to render the outputs of this model into real-time force feedback for the user. In comparison with interaction models, rendering methods in the literature have seen little development and are either oversimplified or too computationally complex. Therefore, this study introduces the Generalized Tracking Wall (GTW) approach, a haptic rendering method inspired by the proxy approach. It aims to accurately simulate the interaction between a needle tip and soft tissues without the complex calculations of tissue deformations. The essence of the proposed method is that it associates an algorithm based on the energetic analysis of cutting with a contact model capable of simulating viscoelasticity and nonlinearity. This association proved to be a potent tool to faithfully replicate the different phases of needle insertion while adhering to underlying physics. Multi-layered-tissue insertions are also considered. The performance and generecity of the GTW are first evaluated through simulations. Then, the GTW is experimentally compared to empirical methods inspired by the literature.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142582936","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

Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots. 通过演示协作机器人，建立神经肌肉接口，促进运动学和远程操作编程。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-10-21 DOI: 10.1109/TOH.2024.3484373

Roberto Meattini, Armando Ameri, Alessandra Bernardini, Javier Gonzalez-Huarte, Aitor Ibarguren, Claudio Melchiorri, Gianluca Palli

{"title":"Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots.","authors":"Roberto Meattini, Armando Ameri, Alessandra Bernardini, Javier Gonzalez-Huarte, Aitor Ibarguren, Claudio Melchiorri, Gianluca Palli","doi":"10.1109/TOH.2024.3484373","DOIUrl":"https://doi.org/10.1109/TOH.2024.3484373","url":null,"abstract":"This study addresses the challenges of Programming by Demonstration (PbD) in the context of collaborative robots, focusing on the need to provide additional degrees of programming without hindering the user's ability to demonstrate trajectories. PbD enables an intuitive programming of robots through demonstrations, allowing non-expert users to teach robot skills without coding. The two main PbD modalities, observational and kinesthetic, have limitations when it comes to programming the diverse functionalities offered by modern collaborative robots. To overcome these limitations, the study proposes the use of a wearable human-robot interface based on surface Electromyography (sEMG) to measure the forearm's muscle co-contraction level, enabling additional programming inputs through hand stiffening level modulations without interfering with voluntary movements. Vibrotactile feedback enhances the operator's understanding of the additional programming inputs during PbD tasks. The proposed approach is demonstrated through experiments involving a collaborative robot performing an industrial wiring task. The results showcase the effectiveness and intuitiveness of the interface, allowing simultaneous programming of robot compliance and gripper grasping. The framework, applicable to both teleoperation and kinesthetic teaching, demonstrated effectively in an industrial wiring task with a 100% success rate over the group of subjects. Furthermore, the presence of vibortactile feedback showed an average decrease of programming errors of 33%, and statistical analyses confirmed the subjects' ability to correctly modulate co-contraction levels. This innovative framework augments programming by demonstration by integrating neuromuscular interfacing and introducing structured programming logics, providing an intuitive human-robot interaction for programming both gripper and compliance in teleoperation and kinesthetic teaching.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142499447","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

Investigating the Kappa Effect Elicited Through Concurrent Visual and Tactile Stimulation 研究通过同时视觉和触觉刺激引发的卡帕效应

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-10-17 DOI: 10.1109/TOH.2024.3482570

Yuri De Pra;Vincenzo Catrambone;Virginie van Wassenhove;Alessandro Moscatelli;Gaetano Valenza;Matteo Bianchi

{"title":"Investigating the Kappa Effect Elicited Through Concurrent Visual and Tactile Stimulation","authors":"Yuri De Pra;Vincenzo Catrambone;Virginie van Wassenhove;Alessandro Moscatelli;Gaetano Valenza;Matteo Bianchi","doi":"10.1109/TOH.2024.3482570","DOIUrl":"10.1109/TOH.2024.3482570","url":null,"abstract":"The experience of time and space in subjective perception is closely connected. The Kappa effect refers to the phenomenon where the perceived duration of the time interval between stimuli is influenced by the spatial distance between them. In this study, we aimed to explore the Kappa effect from a psychophysical perspective. We investigated participants' perception of temporal duration in the sub-second range by delivering visual and tactile inputs through wearable devices placed on both the palm and the forearm. We compared the impact of unimodal sensory stimulation, involving either visual or tactile stimuli, with different bimodal stimulation conditions. Our results revealed that the illusory effect on inter-stimulus duration perception can be observed in both unimodal conditions, although the distortions were significantly more pronounced in vision. In the multimodal stimulation condition, where visual stimuli were presented at non-equidistant spatial locations, the integration of tactile input did not reduce the Kappa effect, regardless of the spatial location of the tactile stimuli. However, when the visual stimuli were equidistant in space, regardless of the spatial location of the tactile stimuli, the Kappa effect disappeared. These results can shed light on the effect played by multimodality on the perception of space and time.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"924-934"},"PeriodicalIF":2.4,"publicationDate":"2024-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10720910","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142464157","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

Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold 与阶梯法相比，有两种快速方法可用于估算振动触觉阈值。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-10-14 DOI: 10.1109/TOH.2024.3479950

Arthur Paté;Nathan Ouvrai;Quentin Consigny;Claudia Fritz

{"title":"Two Rapid Alternatives Compared to the Staircase Method for the Estimation of the Vibrotactile Perception Threshold","authors":"Arthur Paté;Nathan Ouvrai;Quentin Consigny;Claudia Fritz","doi":"10.1109/TOH.2024.3479950","DOIUrl":"10.1109/TOH.2024.3479950","url":null,"abstract":"Wearable vibrotactile devices seem now mature for entering the daily lives and practices of more and more users. However, vibrotactile perception can greatly differ between individuals, in terms of psychophysics and physiology, not to mention higher levels (cognitive or affective for example). Broadly-distributed and affordable vibrotactile devices hence must be adapted to each user's own perception, first of all by delivering intensity levels that are in the perceptible range of the user. This implies determining the user's own thresholds of perception, and then adapting the devices' output levels. Classical methods for the estimation of thresholds elicit too long procedures, and little is known about the reliability of other methods in the vibrotactile domain. This article focuses on two alternative methods for the estimation of amplitude thresholds in the vibrotactile modality (“increasing-intensity” and “decreasing-intensity” methods), and compares their estimations to the estimations from a staircase method. Both rapid methods result in much shorter test durations, and are found less stressful and tiring than the classic method, while showing threshold estimations that are never found to differ by more than 1.5 JND from the estimations by the classic method.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"935-945"},"PeriodicalIF":2.4,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142464158","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

Multichannel Vibrotactile Glove: Validation of a New Device Designed to Sense Vibrations 多通道振动触觉手套：验证设计用于感应振动的新设备。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-10-07 DOI: 10.1109/TOH.2024.3475740

Loonan Chauvette;Éliane Leprohon;Louis-Philippe Perron-Houle;Valentin Pintat;Aidin Delnavaz;Jérémie Voix;Andréanne Sharp

{"title":"Multichannel Vibrotactile Glove: Validation of a New Device Designed to Sense Vibrations","authors":"Loonan Chauvette;Éliane Leprohon;Louis-Philippe Perron-Houle;Valentin Pintat;Aidin Delnavaz;Jérémie Voix;Andréanne Sharp","doi":"10.1109/TOH.2024.3475740","DOIUrl":"10.1109/TOH.2024.3475740","url":null,"abstract":"There is a growing interest in using the tactile modality as a compensation or sensory augmentation tool in various fields. The Multichannel Vibrotactile Glove was designed to meet the needs of these diverse disciplines and overcome the limitations of current sound-to-touch technologies. Using 12 independent haptic exciters on each finger's back and on the palm, the device can convey acoustic information to cutaneous vibrotactile receptors with precise control of the location, frequency, timing, and intensity. A staircase method was used to model vibration detection thresholds at six frequencies (100, 200, 250, 500, 800, 1000 Hertz) for each actuator position (All, Thumb, Index, Major, Middle, Pinky, Palm) and both hands (Right, Left). No between hand difference was observed and all finger actuators provided consistent thresholds, except for the Palm which exhibited higher thresholds. Spatial summation effects were observed when all actuators were activated simultaneously. Detection thresholds significantly increased at 100 Hertz and above 500 Hertz. These findings confirm that the system provides uniform stimulation across hands and actuators. Overall, the Multichannel Vibrotactile Glove provides the freedom to send various acoustic features to individual actuators, providing a versatile tool for research and a potential technology to substitute, compensate, or extend sensory perception.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"913-923"},"PeriodicalIF":2.4,"publicationDate":"2024-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142390216","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

Passive Realizations of Series Elastic Actuation: Effects of Plant and Controller Dynamics on Haptic Rendering Performance 串联弹性执行的被动实现：设备和控制器动力学对触觉渲染性能的影响

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-09-27 DOI: 10.1109/TOH.2024.3470236

Celal Umut Kenanoglu;Volkan Patoglu

{"title":"Passive Realizations of Series Elastic Actuation: Effects of Plant and Controller Dynamics on Haptic Rendering Performance","authors":"Celal Umut Kenanoglu;Volkan Patoglu","doi":"10.1109/TOH.2024.3470236","DOIUrl":"10.1109/TOH.2024.3470236","url":null,"abstract":"We introduce minimal passive physical realizations of series (damped) elastic actuation (S(D)EA) under closed-loop control to determine the effect of different plant parameters and controller gains on the closed-loop performance of the system and to establish an intuitive understanding of the passivity bounds. Furthermore, we explicitly derive the feasibility conditions for these passive physical equivalents and compare them to the necessary and sufficient conditions for the passivity of S(D)EA under velocity-sourced impedance control (VSIC) to establish their relationship. Through the passive physical equivalents, we rigorously compare the effect of different plant dynamics (e.g., SEA and SDEA) on the system performance. We demonstrate that passive physical equivalents make the effect of controller gains explicit and establish a natural means for effective impedance analysis. We also show that passive physical equivalents promote co-design thinking by enforcing simultaneous and unbiased consideration of (possibly negative) controller gains and plant parameters. We demonstrate the usefulness of negative controller gains when coupled with properly designed plant dynamics. Finally, we provide experimental validations of our theoretical passivity results and comprehensive characterizations of the haptic rendering performance of S(D)EA under VSIC.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"882-899"},"PeriodicalIF":2.4,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142345807","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