IEEE Transactions on Haptics最新文献_第2页

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

VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion. VT-SGN：用于神经形态视觉-触觉融合的尖峰图神经网络。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-09-27 DOI: 10.1109/TOH.2024.3449411

Peiliang Wu, Haozhe Zhang, Yao Li, Wenbai Chen, Guowei Gao

{"title":"VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion.","authors":"Peiliang Wu, Haozhe Zhang, Yao Li, Wenbai Chen, Guowei Gao","doi":"10.1109/TOH.2024.3449411","DOIUrl":"https://doi.org/10.1109/TOH.2024.3449411","url":null,"abstract":"Current issues with neuromorphic visual-tactile perception include limited training network representation and inadequate cross-modal fusion. To address these two issues, we proposed a dual network called visual-tactile spiking graph neural network (VT-SGN) that combines graph neural networks and spiking neural networks to jointly utilize the neuromorphic visual and tactile source data. First, the neuromorphic visual-tactile data were expanded spatiotemporally to create a taxel-based tactile graph in the spatial domain, enabling the complete exploitation of the irregular spatial structure properties of tactile information. Subsequently, a method for converting images into graph structures was proposed, allowing the vision to be trained alongside graph neural networks and extracting graph-level features from the vision for fusion with tactile data. Finally, the data were expanded into the time domain using a spiking neural network to train the model and propagate it backwards. This framework effectively utilizes the structural differences between sample instances in the spatial dimension to improve the representational power of spiking neurons, while preserving the biodynamic mechanism of the spiking neural network. Additionally, it effectively solves the morphological variance between the two perceptions and further uses complementary data between visual and tactile. To demonstrate that our approach can improve the learning of neuromorphic perceptual information, we conducted comprehensive comparative experiments on three datasets to validate the benefits of the proposed VT-SGN framework by comparing it with state-of-the-art studies.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142345811","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 Characterisation of Multi-cavity, Fluidic Haptic Feedback System for Mechano-tactile Feedback. 用于机械触觉反馈的多腔流体触觉反馈系统的设计与特性分析

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-09-03 DOI: 10.1109/TOH.2024.3454179

Ge Shi, Jialei Shi, Azadeh Shariati, Kamyar Motaghedolhagh, Shervanthi Homer-Vanniasinkam, Helge Wurdemann

{"title":"Design and Characterisation of Multi-cavity, Fluidic Haptic Feedback System for Mechano-tactile Feedback.","authors":"Ge Shi, Jialei Shi, Azadeh Shariati, Kamyar Motaghedolhagh, Shervanthi Homer-Vanniasinkam, Helge Wurdemann","doi":"10.1109/TOH.2024.3454179","DOIUrl":"https://doi.org/10.1109/TOH.2024.3454179","url":null,"abstract":"Numerous studies have indicated that the use of a closed-loop haptic feedback system, which offers various mechano-tactile stimuli patterns with different actuation methods, can improve the performance and grasp control of prosthetic hands. Purely mechanical-driven feedback approaches for various mechano-tactile stimuli patterns, however, have not been explored. In this paper, a multi-cavity fluidic haptic feedback system is introduced with details of design, fabrication, and validation. The multi-cavity haptic feedback system can detect the physical touch with direction at the fingertip sensor. The direction of the force is reflected in the form of pressure deviation in the multi-cavity fingertip sensor. The feedback actuator generates various mechano-tactile stimuli patterns according to the pressure deviation from the fingertip sensor. Hence, users can identify the force with direction according to the stimuli patterns. The haptic feedback system is validated through two experiments. The initial experiment characterises the system and establishes the relationship between the fingertip sensor and feedback actuator. The subsequent experiment, a human interaction test, confirms the system's capability to detect force with directions and generate corresponding tactile stimuli in the feedback actuator. The outcomes corroborate the idea that participants are generally capable of discerning changes in angle.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142125600","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

Tactile Weight Rendering: A Review for Researchers and Developers. 触觉重量渲染：研究人员和开发人员综述

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-09-03 DOI: 10.1109/TOH.2024.3453894

Ruben Martin-Rodriguez, Alexandre L Ratschat, Laura Marchal-Crespo, Yasemin Vardar

{"title":"Tactile Weight Rendering: A Review for Researchers and Developers.","authors":"Ruben Martin-Rodriguez, Alexandre L Ratschat, Laura Marchal-Crespo, Yasemin Vardar","doi":"10.1109/TOH.2024.3453894","DOIUrl":"https://doi.org/10.1109/TOH.2024.3453894","url":null,"abstract":"Haptic rendering of weight plays an essential role in naturalistic object interaction in virtual environments. While kinesthetic devices have traditionally been used for this aim by applying forces on the limbs, tactile interfaces acting on the skin have recently offered potential solutions to enhance or substitute kinesthetic ones. Here, we aim to provide an in-depth overview and comparison of existing tactile weight rendering approaches. We categorized these approaches based on their type of stimulation into asymmetric vibration and skin stretch, further divided according to the working mechanism of the devices. Then, we compared these approaches using various criteria, including physical, mechanical, and perceptual characteristics of the reported devices. We found that asymmetric vibration devices have the smallest form factor, while skin stretch devices relying on the motion of flat surfaces, belts, or tactors present numerous mechanical and perceptual advantages for scenarios requiring more accurate weight rendering. Finally, we discussed the selection of the proposed categorization of devices together with the limitations and opportunities for future research. We hope this study guides the development and use of tactile interfaces to achieve a more naturalistic object interaction and manipulation in virtual environments.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142125602","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

Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows 感知同步：确定热触觉同步窗口

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-09-03 DOI: 10.1109/TOH.2024.3452102

Takuya Jodai;Lynette A. Jones;Masahiko Terao;Hsin-Ni Ho

{"title":"Perceiving Synchrony: Determining Thermal-Tactile Simultaneity Windows","authors":"Takuya Jodai;Lynette A. Jones;Masahiko Terao;Hsin-Ni Ho","doi":"10.1109/TOH.2024.3452102","DOIUrl":"10.1109/TOH.2024.3452102","url":null,"abstract":"In cutaneous displays in which both tactile and thermal signals are presented, it is important to understand the temporal requirements associated with presenting these signals so that they are perceptually synchronous. Such synchrony is important to provide realistic touch experiences in applications involving object recognition and social touch interactions. In the present experiment the temporal window within which tactile and warm thermal stimuli are perceived to occur at the same time was determined. A Simultaneity Judgment Task was used in which pairs of tactile and thermal stimuli were presented on the hand at varying stimulus onset asynchronies, and participants determined whether the stimuli were simultaneous or not. The results indicated that the average simultaneity window width was 1041 ms. The average point of subjective simultaneity (PSS) was −569 ms, indicating that participants perceived simultaneity best when the warm thermal stimulus preceded the tactile stimulus by 569 ms. These findings indicate that thermal and tactile stimuli do not need to be displayed simultaneously for the two stimuli to be perceived as being synchronous and therefore the timing of such stimuli can be adjusted to maximize the likelihood that they will both be perceived.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"850-859"},"PeriodicalIF":2.4,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10663949","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142125601","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

Effect of Finger Moisture on Tactile Perception of Electroadhesion 手指湿度对电泳触觉的影响

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-08-15 DOI: 10.1109/TOH.2024.3441670

Easa AliAbbasi;Muhammad Muzammil;Omer Sirin;Philippe Lefèvre;Ørjan Grøttem Martinsen;Cagatay Basdogan

引用次数: 0

Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency 优化夹层和拓扑结构，增强触觉透明度。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-08-15 DOI: 10.1109/TOH.2024.3444491

Thomas Daunizeau;Sinan Haliyo;Vincent Hayward

{"title":"Optimized Sandwich and Topological Structures for Enhanced Haptic Transparency","authors":"Thomas Daunizeau;Sinan Haliyo;Vincent Hayward","doi":"10.1109/TOH.2024.3444491","DOIUrl":"10.1109/TOH.2024.3444491","url":null,"abstract":"Humans rely on multimodal perception to form representations of the world. This implies that environmental stimuli must remain consistent and predictable throughout their journey to our sensory organs. When it comes to vision, electromagnetic waves are minimally affected when passing through air or glass treated for chromatic aberrations. Similar conclusions can be drawn for hearing and acoustic waves. However, tools that propagate elastic waves to our cutaneous afferents tend to color tactual perception due to parasitic mechanical attributes such as resonances and inertia. These issues are often overlooked, despite their critical importance for haptic devices that aim to faithfully render or record tactile interactions. Here, we investigate how to optimize this mechanical transmission with sandwich structures made from rigid, lightweight carbon fiber sheets arranged around a 3D-printed lattice core. Through a comprehensive parametric evaluation, we demonstrate how this design paradigm provides superior haptic transparency, regardless of the lattice types. Drawing an analogy with topology optimization, our solution approaches a foreseeable technological limit. It offers a practical way to create high-fidelity haptic interfaces, opening new avenues for research on tool-mediated interactions.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"870-881"},"PeriodicalIF":2.4,"publicationDate":"2024-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141987853","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

Validation of Snaptics: A Modular Approach to Low-Cost Wearable Multi-Sensory Haptics 验证 Snaptics：低成本可穿戴多感官触觉模块化方法

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-08-02 DOI: 10.1109/TOH.2024.3437766

Zane A. Zook;Odnan Galvan;Ozioma Ozor-Ilo;Emre C. Selcuk;Marcia K. O'Malley

{"title":"Validation of Snaptics: A Modular Approach to Low-Cost Wearable Multi-Sensory Haptics","authors":"Zane A. Zook;Odnan Galvan;Ozioma Ozor-Ilo;Emre C. Selcuk;Marcia K. O'Malley","doi":"10.1109/TOH.2024.3437766","DOIUrl":"10.1109/TOH.2024.3437766","url":null,"abstract":"Wearable haptic devices provide touch feedback to users for applications including virtual reality, prosthetics, and navigation. When these devices are designed for experimental validation in research settings, they are often highly specialized and customized to the specific application being studied. As such, it can be difficult to replicate device hardware due to the associated high costs of customized components and the complexity of their design and construction. In this work, we present Snaptics, a simple and modular platform designed for rapid prototyping of fully wearable multi-sensory haptic devices using 3D-printed modules and inexpensive off-the-shelf components accessible to the average hobbyist. We demonstrate the versatility of the modular system and the salience of haptic cues produced by wearables constructed with Snaptics modules in two human subject experiments. First, we report on the identification accuracy of multi-sensory haptic cues delivered by a Snaptics device. Second, we compare the effectiveness of the Snaptics Vibrotactile Bracelet to the Syntacts Bracelet, a high-fidelity wearable vibration feedback bracelet, in assisting participants with a virtual reality sorting task. Results indicate that participant performance was comparable in perceiving cue sets and in completing tasks when interacting with low-cost Snaptics devices as compared to a similar research-grade haptic wearables.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"830-840"},"PeriodicalIF":2.4,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141878643","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

Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings 上肢假肢的触觉感知：机械特性、人体实验和计算结果。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-08-02 DOI: 10.1109/TOH.2024.3436827

Alessia S. Ivani;Manuel G. Catalano;Giorgio Grioli;Matteo Bianchi;Yon Visell;Antonio Bicchi

{"title":"Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings","authors":"Alessia S. Ivani;Manuel G. Catalano;Giorgio Grioli;Matteo Bianchi;Yon Visell;Antonio Bicchi","doi":"10.1109/TOH.2024.3436827","DOIUrl":"10.1109/TOH.2024.3436827","url":null,"abstract":"Tactile feedback is essential for upper-limb prostheses functionality and embodiment, yet its practical implementation presents challenges. Users must adapt to non-physiological signals, increasing cognitive load. However, some prosthetic devices transmit tactile information through socket vibrations, even to untrained individuals. Our experiments validated this observation, demonstrating a user's surprising ability to identify contacted fingers with a purely passive, cosmetic hand. Further experiments with advanced soft articulated hands revealed decreased performance in tactile information relayed by socket vibrations as hand complexity increased. To understand the underlying mechanisms, we conducted numerical and mechanical vibration tests on four prostheses of varying complexity. Additionally, a machine-learning classifier identified the contacted finger based on measured socket signals. Quantitative results confirmed that rigid hands facilitated contact discrimination, achieving 83% accuracy in distinguishing index finger contacts from others. While human discrimination decreased with advanced hands, machine learning surpassed human performance. These findings suggest that rigid prostheses provide natural vibration transmission, potentially reducing the need for tactile feedback devices, which advanced hands may require. Nonetheless, the possibility of machine learning algorithms outperforming human discrimination indicates potential to enhance socket vibrations through active sensing and actuation, bridging the gap in vibration-transmitted tactile discrimination between rigid and advanced hands.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"817-829"},"PeriodicalIF":2.4,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141878642","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

Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES). 振动惯性仿生增强系统（VIBES）的特征描述、实验验证和试点用户研究。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-07-30 DOI: 10.1109/TOH.2024.3435588

Alessia Silvia Ivani, Federica Barontini, Manuel G Catalano, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi

{"title":"Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES).","authors":"Alessia Silvia Ivani, Federica Barontini, Manuel G Catalano, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi","doi":"10.1109/TOH.2024.3435588","DOIUrl":"10.1109/TOH.2024.3435588","url":null,"abstract":"This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied participants is performed to compute the Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the skin in two forearm positions, with the goal of optimising vibrotactile actuator position to maximise perceptual response. Furthermore, system performance is validated and tested both with ten able-bodied participants and one prosthesis user considering three tasks. More specifically, in the Active Texture Identification, Slippage and Fragile Object Experiments, we investigate if the VIBES could enhance users' roughness discrimination and manual usability and dexterity. Finally, we test the effect of the vibrotactile system on prosthetic embodiment in a Rubber Hand Illusion (RHI) task. Results show the system's effectiveness in conveying contact and texture cues, making it a potential tool to restore sensory feedback and enhance the embodiment in prosthetic users.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141855404","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