IEEE Transactions on Haptics最新文献

LARIAT: Predictive Haptic Feedback to Improve Semi-Autonomous UGV Safety in a Case Study.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-03-03 DOI: 10.1109/TOH.2025.3546979

Chandler Stubbs, Kathleen Steadman, David M Bevly, Chad G Rose

{"title":"LARIAT: Predictive Haptic Feedback to Improve Semi-Autonomous UGV Safety in a Case Study.","authors":"Chandler Stubbs, Kathleen Steadman, David M Bevly, Chad G Rose","doi":"10.1109/TOH.2025.3546979","DOIUrl":"https://doi.org/10.1109/TOH.2025.3546979","url":null,"abstract":"While much work is being done to advance autonomous capabilities of mobile robotics, specifically unmanned ground vehicles (UGVs), some applications might currently be too complex or undesirable for full autonomy. Maintaining a human in the loop has proven to be a reliable strategy in these applications, yet there are currently limitations to the efficacy of human operators. Haptic feedback has been proposed as a method of addressing these limitations, and aiding UGV operators in safe and effective operation. This manuscript presents the experimental validation of LARIAT (Lowering Attention Requirements in semi-Autonomous Teleoperation), a portable haptic device for teleoperated semi-autonomous UGVs. This device utilizes an adapted predictive form of the Zero-Moment Point (ZMP) rollover index to inform haptic squeeze cues provided to the UGV operator for human-on-the-loop notifications. First, a brief design overview of LARIAT, implemented haptic control, and the ZMP index are presented. In addition to experimental device characterization of the just noticeable difference, we present a case study that demonstrates LARIAT's abilities to improve teleoperation performance. In an experiment involving a simulation of walking behind a semi-autonomous UGV, LARIAT reduced the number of UGV rollovers by up to 50%, with comparable or increased performance in a concurrent secondary tasks.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541865","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

Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-27 DOI: 10.1109/TOH.2025.3546522

Jacob Carducci, Noah J Cowan, Jeremy D Brown

{"title":"Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds.","authors":"Jacob Carducci, Noah J Cowan, Jeremy D Brown","doi":"10.1109/TOH.2025.3546522","DOIUrl":"https://doi.org/10.1109/TOH.2025.3546522","url":null,"abstract":"Robotic teleoperators introduce novel electromechanical dynamics between the user and the environment. While considerable effort has focused on minimizing these dynamics, we lack a robust understanding of their impact on user task performance across the range of human motor control ability. Here, we utilize a 1-DoF teleoperator testbed with interchangeable mechanical and electromechanical couplings between the leader and follower to investigate to what extent, if any, the dynamics of the teleoperator influence performance in a visual-motor pursuit tracking task. We recruited N = 30 participants to perform the task at frequencies ranging from 0.55 - 2.35 Hz, with the testbed configured into Mechanical, Unilateral, and Bilateral configurations. Results demonstrate that tracking performance at the follower was similar across configurations. However, participants' adjustment at the leader differed between Mechanical, Unilateral, and Bilateral configurations. In addition, participants applied different grip forces between the Mechanical and Unilateral configurations. Finally, participants' ability to compensate for coupling dynamics diminished significantly as execution speed increased. Overall, these findings support the argument that humans are capable of incorporating teleoperator dynamics into their motor control scheme and producing compensatory control strategies to account for these dynamics; however, this compensation is significantly affected by the leader-follower coupling dynamics and the speed of task execution.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541869","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

Measurement of Airborne Ultrasound Focus on Skin Surface Using Thermal Imaging.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-26 DOI: 10.1109/TOH.2025.3546270

Ryoya Onishi, Sota Iwabuchi, Shun Suzuki, Takaaki Kamigaki, Yasutoshi Makino, Hiroyuki Shinoda

{"title":"Measurement of Airborne Ultrasound Focus on Skin Surface Using Thermal Imaging.","authors":"Ryoya Onishi, Sota Iwabuchi, Shun Suzuki, Takaaki Kamigaki, Yasutoshi Makino, Hiroyuki Shinoda","doi":"10.1109/TOH.2025.3546270","DOIUrl":"https://doi.org/10.1109/TOH.2025.3546270","url":null,"abstract":"In recent years, tactile presentation technology using airborne ultrasound has attracted attention. To achieve an ideal tactile presentation using ultrasound, the acoustic field on the user's skin surface must be determined, particularly the location of the focal point. Previous studies have suggested that thermal images can be used to immediately visualize sound pressure patterns on finger surfaces. In this study, we comprehensively investigated the performance of thermal imaging for measuring the ultrasound focus on the skin. First, we confirmed that the sound pressure peak at the focus and the temperature change peak were matched using silicone that mimicked the skin. In addition, we confirmed that when human skin was irradiated, a temperature increase was observed at above 4.0 kPa in 9 out of 10 participants. Moreover, a 5.5 kPa focus could be employed to track the focal position if the moving velocity was less than 100 mm/s and to detect the orbit if the velocity was less than 2000 mm/s. These results clarify the situation in which the focus can be measured by using thermal images and provide guidelines for practical use.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541866","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

Stretching Time With Velvet: How Affective Materials Shape our Perception of Time.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-25 DOI: 10.1109/TOH.2025.3545473

Muge Cavdan, Knut Drewing

{"title":"Stretching Time With Velvet: How Affective Materials Shape our Perception of Time.","authors":"Muge Cavdan, Knut Drewing","doi":"10.1109/TOH.2025.3545473","DOIUrl":"https://doi.org/10.1109/TOH.2025.3545473","url":null,"abstract":"Research has shown that affective visual and auditory events (e.g., a crying baby) are perceived as lasting longer compared to neutral ones. However, the impact of affective haptic experiences on time perception has hardly been studied. This study investigates the influence of interacting with affective materials on time perception. We selected three materials that are known to evoke pleasant (velvet), unpleasant (sandpaper), and neutral (paper) affective responses. Participants completed a temporal bisection task to assess how each material influenced their perception of time. The task involved presenting the materials in time intervals from 1000 to 2200ms in 200ms increments. In each trial, a participant stroked one of the materials, with the duration being limited by two vibrotactile feedback, and judged whether the duration felt closer to a previously learned short or long interval. Expectedly, velvet yielded lower bisection points than paper. Contrary to expectations, bisection points for sandpaper - despite being an unpleasant material - did not significantly differ from that for the control material, paper. These findings suggest that while pleasant haptic material experiences can extend perceived time, unpleasant materials may not have an effect. This effect is partially consistent with the observed time lengthening during affective auditory and visual events.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541868","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

Adding Touch to Immersive Media: An Overview of the MPEG Haptics Coding Standard.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-05 DOI: 10.1109/TOH.2025.3539026

Philippe Guillotel, Yeshwant Muthusamy, Quentin Galvane, Eric Vezzoli, Lars Nockenberg, Iraj Sodagar, Henry Da Costa, Alexandre Hulsken, Gurvan Lecuyer, Matthieu Perreira Da Silva, Francois Bouffard, Heather Culbertson, Sandeep Kollannur, David Gueorguiev

引用次数: 0

Human-in-the-Loop Optimization of Perceived Realism of Multi-Modal Haptic Rendering Under Conflicting Sensory Cues.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-30 DOI: 10.1109/TOH.2025.3535416

Harun Tolasa, Bilal Catkin, Volkan Patoglu

{"title":"Human-in-the-Loop Optimization of Perceived Realism of Multi-Modal Haptic Rendering Under Conflicting Sensory Cues.","authors":"Harun Tolasa, Bilal Catkin, Volkan Patoglu","doi":"10.1109/TOH.2025.3535416","DOIUrl":"https://doi.org/10.1109/TOH.2025.3535416","url":null,"abstract":"During haptic rendering, a visual display and a haptic interface are commonly utilized together to elicit multi-sensory perception of a virtual object, through a combination and integration of force-related and movement-related cues. In this study, we explore visual-haptic cue integration during multi-modal haptic rendering under conflicting cues and propose a systematic means to determine the optimal visual scaling for haptic manipulation that maximizes the perceived realism of spring rendering for a given haptic interface. We show that the parameters affecting visual-haptic congruency can be effectively optimized through a qualitative feedback-based human-in-the-loop (HiL) optimization to ensure a consistently high rating of perceived realism. Accordingly, the multi-modal perception of users can be successfully enhanced by solely modulating the visual feedback without altering the haptic feedback, to make virtual environments feel stiffer or more compliant, significantly extending the range of perceived stiffness levels for a haptic interface. We extend our results to a group of individuals to capture the multi-dimensional psychometric field that characterizes the cumulative effect of feedback modalities utilized during sensory cue integration under conflicts. Our results not only provide reliable estimates of just noticeable difference thresholds for stiffness with and without visual scaling but also capture all the prominent features of sensory cue integration, indicating weights that are proportional to the congruency level of manipulated visual signals. Overall, preference-based HiL optimization excels as a systematic and efficient method of studying multi-modal perception under conflicts.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541864","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

Gamifying Haptics User Studies: Comparison of Response Times from Smartphone Interfaces.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-30 DOI: 10.1109/TOH.2025.3536885

Bushra Kudsi, Doris Xu, Umit Sen, Kyle T Yoshida, Fabio Stroppa, Cara M Nunez, Mine Sarac

{"title":"Gamifying Haptics User Studies: Comparison of Response Times from Smartphone Interfaces.","authors":"Bushra Kudsi, Doris Xu, Umit Sen, Kyle T Yoshida, Fabio Stroppa, Cara M Nunez, Mine Sarac","doi":"10.1109/TOH.2025.3536885","DOIUrl":"https://doi.org/10.1109/TOH.2025.3536885","url":null,"abstract":"Haptics user studies are often restricted to a set, physical location and use methods that do not captivate the user. Applying game design elements can create an entertaining environment and increase user engagement. Using ubiquitous tools, like smartphones, to conduct haptics user studies could allow researchers to access larger participant groups while a gamified approach could facilitate the data collection by making the experiment more enjoyable. To explore this concept, this work presents a gamified version of an existing psychophysical experiment that investigates response time to multisensory cues using a smartphone based on \"Whac-A-Mole\". We conducted a user study to compare our gamified interface with an existing psychophysical interface with thirteen participants exploring the response time from eighteen combinations of auditory, haptic, and visual stimuli at different levels of intensities and participant preferences for both interfaces. The results demonstrate that the gamified interface successfully captured similar trends in response times and significantly elevated participant enjoyment ( < 0.003), but did not result in equivalent response times to the original interface. This work shows the benefits and drawbacks of following a gamification approach when designing haptics user studies and discusses factors and trade-offs to consider when gamifying studies.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541863","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

Enhancing Human Navigation Ability Using Force-Feedback from a Lower-Limb Exoskeleton.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-27 DOI: 10.1109/TOH.2025.3533974

Carlos Carrasquillo, Aakash Bajpai, Divya Iyengar, Killian Collins, Anirban Mazumdar, Aaron J Young

{"title":"Enhancing Human Navigation Ability Using Force-Feedback from a Lower-Limb Exoskeleton.","authors":"Carlos Carrasquillo, Aakash Bajpai, Divya Iyengar, Killian Collins, Anirban Mazumdar, Aaron J Young","doi":"10.1109/TOH.2025.3533974","DOIUrl":"https://doi.org/10.1109/TOH.2025.3533974","url":null,"abstract":"Humans operating in dynamic environments with limited visibility are susceptible to collisions with moving objects, occupational hazards, and/or other agents, which can result in personal injuries or fatalities. Most existing research has focused on using vibrotactile cues to address this challenge. In this work, we propose a fundamentally new approach that utilizes variable impedance on an active exoskeleton to guide humans away from hazards and towards safe areas. This framework combines artificial potential fields with current impedance-based theories of exoskeleton control to provide a comprehensive navigational system that is intuitive for human operators. First, we present the mathematical framework to encode information about the locations of obstacles and the safest direction in which to move. Next, we optimize controller parameters in a series of humansubject experiments. Finally, we evaluate the framework in virtual reality on a set of randomly generated obstacle fields in environments where vision is either fully or partially occluded. Our results suggest that the exoskeleton provides significant separation from obstacles and reduced collisions compared to vision alone in conditions where visibility was limited to less than 1.3 m. Our work demonstrates that force-feedback in parallel with a human can improve overall navigation ability in low visibility conditions.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541862","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

Calibration and Closed-Loop Control Improve Performance of A Force Feedback Device.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-17 DOI: 10.1109/TOH.2025.3531471

Jun Zhang, Wenjie Shen, Liuchen Chen, Aiguo Song

{"title":"Calibration and Closed-Loop Control Improve Performance of A Force Feedback Device.","authors":"Jun Zhang, Wenjie Shen, Liuchen Chen, Aiguo Song","doi":"10.1109/TOH.2025.3531471","DOIUrl":"https://doi.org/10.1109/TOH.2025.3531471","url":null,"abstract":"Interaction accuracy and transparency of force feedback devices (FFDs) are crucial in applications like remote surgery, where high force feedback accuracy (FFA) ensures the safety of delicate procedures. However, few studies have introduced the force calibration of FFDs, especially addressing the low FFA issue in high dynamic motions. This paper proposes a calibration method and a closed-loop control (CLC) strategy for an FFD to enhance its FFA. Tailored calibration models were developed by decoupling factors causing feedback force errors. The CLC was achieved by modeling the FFD's kinematics, statics, and dynamics and integrating force and current information. Experimental results show that the integration of the models and CLC significantly improved FFA, evidenced by a reduction in mean absolute error (MAE) from 0.843 N to 0.054 N and a mean relative absolute error (MRAE) from 18.89% to 1.52% in static conditions. In dynamic motions, the MAE reduced from 3.10 N to 0.370 N, and the MRAE declined from 117.66% to 22.57%. With human-in-the-loop, the CLC reduced the MAE by about 93% and the MRAE by about 92%. The ablation study showed the effectiveness of each calibration model. Our methodology can be applied to similar motor-driven FFDs.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541860","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

Real-time Musical Haptics with Ultra-wideband: A Study on Latency, Reliability, and Perception.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-06 DOI: 10.1109/TOH.2025.3525959

Luca Turchet, Christian Sassi, Davide Vecchia, Gian Pietro Picco

{"title":"Real-time Musical Haptics with Ultra-wideband: A Study on Latency, Reliability, and Perception.","authors":"Luca Turchet, Christian Sassi, Davide Vecchia, Gian Pietro Picco","doi":"10.1109/TOH.2025.3525959","DOIUrl":"https://doi.org/10.1109/TOH.2025.3525959","url":null,"abstract":"Ultra-wideband (UWB) radios are popular for accurate distance estimation between devices. However, UWB also offers low-power, fast, reliable wireless communication. We exploit it here in a real-time musical haptics system for live performances: a wearable, wirelessly activated via UWB by the performer's instrument, augments the audience musical experience with a tactile sensory layer. Two challenges are crucial to the experience quality: i) communication must be reliable, to prevent corruption of tactile signals, and ii) these must reach the audience synchronously with the instrument sounds. We perform micro-benchmarks of UWB links alone in a controlled setup, showing that the haptic signal can be delivered reliably over UWB before the instrument sound, thus enabling proper compensation delays to perfectly realign sound and tactile vibration. We confirm this holds on the end-to-end system including haptic components by characterizing four proof-of-concept prototypes combining different UWB-enabled instruments and wearables. Finally, we reconcile these objective measures with subjective ones via a user study focusing on perception, yielding very positive outcomes. Together, these results confirm the potential of UWB-based musical haptics for enhancing the audience experience at live performances in ways hitherto unexplored.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541867","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