{"title":"Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow","authors":"Takuto Nakamura;Hideaki Kuzuoka","doi":"10.1109/TOH.2024.3362407","DOIUrl":"10.1109/TOH.2024.3362407","url":null,"abstract":"The hanger reflex is an illusion phenomenon that induces strong force perception and rotational motion, and it occurs in multiple parts of the body. A potential application of this phenomenon is in upper limb rehabilitation for patients with upper-limb paralysis involving arm rotation. However, the only upper limb movements that have been confirmed in this phenomenon are the inward and outward movements of the wrist, which limits the applicable tasks. Therefore, we attempted to apply the hanger reflex to the elbow and use it simultaneously with the wrist. This phenomenon occurs due to shear deformation of the skin, so shear deformation was presented to the skin on the elbow. When shear deformation of the skin was presented to the elbow in the same manner as in previous studies applied to the wrist, movement and force perception of pronation and supination of the elbow were confirmed. The results of an experiment in which the hanger reflex was simultaneously presented to the elbow and wrist showed that each region independently perceived motion and force.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"108-115"},"PeriodicalIF":2.9,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139697280","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}
Rachel A. G. Adenekan;Alejandrina Gonzalez Reyes;Kyle T. Yoshida;Sreela Kodali;Allison M. Okamura;Cara M. Nunez
{"title":"A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites","authors":"Rachel A. G. Adenekan;Alejandrina Gonzalez Reyes;Kyle T. Yoshida;Sreela Kodali;Allison M. Okamura;Cara M. Nunez","doi":"10.1109/TOH.2024.3362154","DOIUrl":"10.1109/TOH.2024.3362154","url":null,"abstract":"Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and the 128 Hz tuning fork, have poor repeatability and resolution. Long term, we aim to provide a repeatable, high-resolution testing platform that can be used to assess vibrotactile perception through smartphones without the need for an experimenter to be present to conduct the test. We present a smartphone-based vibration perception measurement platform and compare its performance to measurements from standard monofilament and tuning fork tests. We conducted a user study with 36 healthy adults in which we tested each tool on the hand, wrist, and foot, to assess how well our smartphone-based vibration perception thresholds (VPTs) detect known trends obtained from standard tests. The smartphone platform detected statistically significant changes in VPT between the index finger and foot and also between the feet of younger adults and older adults. Our smartphone-based VPT had a moderate correlation to tuning fork-based VPT. Our overarching objective is to develop an accessible smartphone-based platform that can eventually be used to measure disease progression and regression.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"970-977"},"PeriodicalIF":2.4,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139691686","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}
{"title":"Establishing Natural Tactile Mappings: Mapping Tactile Parameters to Continuous Data Concepts","authors":"Nicholas Gardella;Sara L. Riggs","doi":"10.1109/TOH.2024.3357416","DOIUrl":"10.1109/TOH.2024.3357416","url":null,"abstract":"There has been limited work developing natural mappings between tactile signals and common data concepts in data rich domains. If these mappings can be established, tactile displays can become more intuitive and readily adopted. The present study aims to identify general natural mappings between perceptual dimensions of vibration and continuous data concepts. Twenty-one participants were tasked to map four different tactile parameters to four different data concepts—pressure, concentration, size, and speed. We found that an increase in intensity was good at conveying increases for all data concepts. We also found that speed, pressure, concentration, and size all have at least one strong natural mapping.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"80-85"},"PeriodicalIF":2.9,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139650617","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}
{"title":"Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction","authors":"Huseyin Tugcan Dinc;Thomas Hulin;Christian Ott;Jee-Hwan Ryu","doi":"10.1109/TOH.2024.3359230","DOIUrl":"10.1109/TOH.2024.3359230","url":null,"abstract":"The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic interaction and enhance stable impedance range while maintaining high transparency. Based on the observation of energy exchange behavior in pressing and releasing paths in haptic interaction, we introduce an energy cycle as a completion of a pressing and releasing path. With this new concept, we compare the energies at the end of each energy cycle to estimate the energy generation and inject adaptive damping to regulate it over upcoming cycles. Because we wait a pressing-releasing cycle is completed, we allow energy to be generated, but we regulate the amount of generated energy over upcoming cycles by injecting adaptive damping. In this way, we perform low-frequency control actions on system dynamics. These in turn enable us to achieve high transparency. We show the validity of the proposed approach through several simulations and experiments, and show that it enhances the stable impedance range and transparency compared to the TDPA.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"100-107"},"PeriodicalIF":2.9,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139575624","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}
{"title":"Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality","authors":"Erwan Normand;Claudio Pacchierotti;Eric Marchand;Maud Marchal","doi":"10.1109/TOH.2024.3358910","DOIUrl":"10.1109/TOH.2024.3358910","url":null,"abstract":"Manipulating virtual objects with bare hands is a key interaction in Augmented Reality (AR) applications. However, there are still several limitations that affect the manipulation, including the lack of mutual visual occlusion between virtual and real content as well as the lack of haptic sensations. To address the two abovementioned matters, the role of the visuo-haptic rendering of the hand as sensory feedback is investigated. The first experiment explores the effect of showing the hand of the user as seen by the AR system through an avatar, comparing six visual hand rendering. The second experiment explores the effect of the visuo-haptic hand rendering by comparing two vibrotactile contact techniques provided at four delocalized positions on the hand and combined with the two most representative visual hand renderings from the first experiment. Results show that delocalized vibrotactile haptic hand rendering improved perceived effectiveness, realism, and usefulness when provided close to the contact point. However, the farthest rendering position, i.e., on the contralateral hand, gave the best performance even though it was largely disliked. The visual hand rendering was perceived as less necessary for manipulation when the haptic hand rendering was available, but still provided useful feedback on the hand tracking.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"277-291"},"PeriodicalIF":2.4,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139567097","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}
{"title":"Distribution Characteristics and Correlation of Edge Sharpness Threshold and Contact Area","authors":"Qian Wu;Jianguang Li","doi":"10.1109/TOH.2024.3357751","DOIUrl":"10.1109/TOH.2024.3357751","url":null,"abstract":"It is currently unclear how sharpness discrimination ability is distributed across a wide range of edge sharpness and the effect of contact area on haptic perception. We 3D printed triangular prisms with various edge sharpness and half-edge widths in the full-scale range and conducted 2AFC tasks to gain the haptic threshold distribution. Results show that the distribution curves of the sharpness threshold and its contact area have a similar inflection point at 115\u0000<inline-formula><tex-math>$^circ$</tex-math></inline-formula>\u0000, implying a boundary between medium-low and high stimuli. It is also found that Weber fractions in the medium stimulus range follow Weber's Law and are consistent with previous studies but lower than the mean of Weber fractions in the high stimulus range. Besides, there is no significant difference in upper and lower thresholds in the medium-low stimulus range but a significant difference in the high stimulus range with the higher upper threshold. Variations in contact area do not affect sharpness discrimination ability when the half-edge width exceeds 2 mm. However, decreasing the half-edge width from 2 mm to 1 mm significantly reduces haptic sensitivity. Our findings offer preliminary evidence contributing to understanding haptic perception in edge sharpness discrimination, encompassing the properties of objects and object-individual interfaces.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"451-460"},"PeriodicalIF":2.4,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139563835","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}
{"title":"Enhancing User Performance by Adaptively Changing Haptic Feedback Cues in a Fitts's Law Task","authors":"Drake Rowland;Benjamin Davis;Taylor Higgins;Ann Majewicz Fey","doi":"10.1109/TOH.2024.3358188","DOIUrl":"10.1109/TOH.2024.3358188","url":null,"abstract":"Enhancing human user performance in some complex task is an important research question in many domains from skilled manufacturing to rehabilitation and surgical training. Many examples in the literature explore the effects of both haptic assistance or guidance to complete a task, as well as haptic hindrance to temporarily increase task difficulty for the ultimate goal of faster learning. Studies also suggest adaptively changing guidance based on expertise may be most effective. However, to our knowledge, there has not yet been a conclusive study evaluating these enhancement modes in a systematic experiment. In this article, we evaluate learning outcomes for 24 human subjects in a randomized control trial performing a Fitt's law reaching task under various haptic feedback conditions including: no haptics, assistive haptics, resistive haptics, and adaptively changing haptics tied to current performance measures. Subjects each performed 400 trials total and this paper reports results for 40 pre-test and 40 post-test trials. While most conditions did show improvements in performance, we found statistically significant results indicating that our adaptive haptic feedback condition leads to faster and more effective learning as evidenced by metrics of movement time, overshoot, performance index, and speed when compared to the other groups.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"92-99"},"PeriodicalIF":2.9,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139563869","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}
{"title":"Telemetry-Based Haptic Rendering for Racing Game Experience Improvement","authors":"Jiwan Lee;Junwoo Kim;Jeonggoo Kang;Eunsoo Jo;Dong Chul Park;Seungmoon Choi","doi":"10.1109/TOH.2024.3357885","DOIUrl":"10.1109/TOH.2024.3357885","url":null,"abstract":"Many recent games, such as racing and flight games, open their game telemetry data to users by storing them in the local memory. Such telemetry data can provide useful information for haptic rendering, and this advantage has been exploited by the industry. This approach applies to any applications that export telemetry data in run time. The haptic rendering module operates as a separate process that accesses the telemetry data in parallel with the application. It is simple, efficient, and modular while retaining the application intact. We examine the approach's viability for user experience improvement by developing three telemetry-based haptic rendering algorithms for car racing games. They express the car engine response, collisions with external objects, and the road surface texture, respectively. Building a haptics-enabled driving platform, we conducted a user study comparing gaming experiences between our telemetry-based algorithms and conventional sound-to-tactile conversion algorithms. The results showed that the telemetry-based effects elicited better experiences than the sound-based effects.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"72-79"},"PeriodicalIF":2.9,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139546259","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}
{"title":"Bumps and Dents are Not Perceptually Opposite When Exploring With Lateral Force Cues","authors":"Mirai Azechi;Shogo Okamoto","doi":"10.1109/TOH.2024.3357806","DOIUrl":"10.1109/TOH.2024.3357806","url":null,"abstract":"Virtual tactile bumps and dents are presented by controlling frictional forces on a surface tactile display, a flat touch screen with tactile feedback functions. This technology enables users to touch and feel three-dimensional objects. The resistive force against a sliding finger is increased and then decreased compared to a base level to present a bump. The order of increase and decrease is inverted for a dent. Thus, the difference between bump and dent presentations lies in the change order of the resistive force. However, bumps and dents are not simply opposite when investigating psychophysical functions with only lateral force cues available, without height and depth information. The results demonstrate that bumps are more easily detected with high surface gradients or resultant force changes and small widths. In contrast, these parameters do not influence the detection of dents among different participants. These findings contribute to a deeper understanding of tactile perception of surface shapes.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"52-57"},"PeriodicalIF":2.9,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139546255","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}
Gen Ohara;Daiki Kikuchi;Masashi Konyo;Satoshi Tadokoro
{"title":"Stereohaptic Vibration: Out-of-Body Localization of Virtual Vibration Source Through Multiple Vibrotactile Stimuli on the Forearms","authors":"Gen Ohara;Daiki Kikuchi;Masashi Konyo;Satoshi Tadokoro","doi":"10.1109/TOH.2024.3357574","DOIUrl":"10.1109/TOH.2024.3357574","url":null,"abstract":"This paper proposes a novel concept of “stereohaptic vibration,” which employs distributed vibration to localize vibration sources outside the body. Inspired by amplitude panning, a stereophonic sound display technique, we developed a method to localize a virtual vibration source (VVS) by polarizing the perceived intensity of multiple vibration stimuli to a specific orientation. Considering the perceptual characteristics of high-frequency vibration, the perceived intensity of the VVS was allocated to multiple vibrators according to the distance and direction of the target. The velocity discrimination performance was confirmed by utilizing four stimuli around the arm and one vibration stimulus to the palm to localize the movement of a VVS throughout the arm. Discrimination experiments of the trajectory of outgoing objects with a single arm and dual arms revealed that our approach could localize in three dimensions, even outside the body. The proposed technology for localizing external virtual vibration sources is expected to enhance the virtual reality experience.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"86-91"},"PeriodicalIF":2.9,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139540810","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}