IEEE Transactions on Haptics最新文献_第2页

Measuring the Distribution of Tactile Acuity at the Index Finger and Thumb Fingertips. 测量食指和拇指指尖的触觉敏锐度分布。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-17 DOI: 10.1109/TOH.2025.3580707

Michiru Sobue, Soma Kato, Izumi Mizoguchi, Hiroyuki Kajimoto

{"title":"Measuring the Distribution of Tactile Acuity at the Index Finger and Thumb Fingertips.","authors":"Michiru Sobue, Soma Kato, Izumi Mizoguchi, Hiroyuki Kajimoto","doi":"10.1109/TOH.2025.3580707","DOIUrl":"https://doi.org/10.1109/TOH.2025.3580707","url":null,"abstract":"In our day-to-day activities, we utilize not only the pads of our fingers but also the sides and hemispherical tips when manipulating objects. For teleoperation systems to replicate these real-life interactions, tactile sensation must be presented and distributed across the entire fingertip. Thus, understanding the distribution of tactile acuity at the fingertip is imperative. Although there is a general conception that the tactile acuity of the finger differs between the end of the finger and the finger pad, both the change in resolution and the resolution along the side of the finger are relatively unexplored. We measured the tactile acuity distribution across the entire fingertip of the index finger and thumb, defining it as the ability to distinguish between two discrete orientations of the short linear tip of an indenter. The results revealed that tactile acuity decreased gradually and almost monotonically from fingertip to finger pad, with a significant drop observed at the lateral side of the fingertip. This study provides a fundamental basis for designing devices that can provide a level of tactile presentation wherein shapes can be recognized upon touch.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144316814","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 Force/Torque Taxonomy for Classifying States During Physical Co-Manipulation. 物理协同操作过程中用于状态分类的力/扭矩分类法。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-17 DOI: 10.1109/TOH.2025.3580509

Dallin L Cordon, John L Salmon, Marc D Killpack

引用次数: 0

Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design. 探索可接受的重量标准的手指佩戴触觉设备的设计。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-16 DOI: 10.1109/TOH.2025.3580216

Yusuke Ujitoko, Tao Morisaki

{"title":"Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design.","authors":"Yusuke Ujitoko, Tao Morisaki","doi":"10.1109/TOH.2025.3580216","DOIUrl":"https://doi.org/10.1109/TOH.2025.3580216","url":null,"abstract":"The development of finger-worn haptic devices requires careful consideration of weight-related design trade-offs. Increased functionality commonly results in additional device weight, potentially burdening the wearer and impairing finger dexterity. Despite the importance of weight in design considerations, the field lacks criteria for acceptable device weight. This study addresses this gap by exploring weight criteria for continuous wear. We posit that for such devices to be adopted, their weight must not hinder daily activities when the device is not providing haptic feedback. In experiments, we investigated how device weight affected performance during common office tasks, specifically pointing and typing. Participants wore a mockup of a finger-worn haptic device and completed tasks as quickly and accurately as possible. We manipulated the weight (0, 20, 40, and 60 g) and placement of the device (proximal and distal). Across tasks, we found that adding up to 60 g to the index finger did not degrade task performance, while subjective user load increased under some conditions. These findings suggest that in scenarios where office task performance is critical, devices weighing up to 60 g are acceptable regardless of their placement on the finger.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144309896","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

ElectroCaresses: Contactless Apparent Motion on the Forearm using Electrostatic Piloerection. 电爱抚：利用静电勃起在前臂上进行无接触的表观运动。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-12 DOI: 10.1109/TOH.2025.3579134

Elodie Bouzbib, Stefan Donkov, Sonia Elizondo, Josu Irisarri, Mikel Aldea, Inigo Ezcurdia, Naroa Iriarte, Asier Marzo

引用次数: 0

Touched by vibrations: Intensity modulates valence and arousal on the torso. 触摸振动：强度调节价和唤醒的躯干。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-11 DOI: 10.1109/TOH.2025.3576894

Nedim Goktepe, Muge Cavdan, Knut Drewing

{"title":"Touched by vibrations: Intensity modulates valence and arousal on the torso.","authors":"Nedim Goktepe, Muge Cavdan, Knut Drewing","doi":"10.1109/TOH.2025.3576894","DOIUrl":"https://doi.org/10.1109/TOH.2025.3576894","url":null,"abstract":"Previous studies have successfully elicited a wide range of emotional responses by stimulating the hand region. The purpose of the current study was to test whether tactile stimuli applied to the torso could elicit similar emotional responses. To this end, we created 45 custom vibrotactile patterns that were presented through a vibrotactile vest to the front, back, and both sides of the torso. The patterns covered a wide range of physical variables such as amplitude, trajectory, and continuity. In an exploratory experiment, participants rated the arousal and valence of these patterns. Emotional responses differed between the patterns, and detailed analyses suggested that vibration amplitude and intensity where these vibrations were applied influenced both valence and arousal judgments. In a follow-up experiment, we systematically varied the amplitude and location of the vibrations. Our results showed that lower amplitudes were less arousing and more pleasant than higher amplitudes. Similarly, vibrations to the back torso were less arousing and more pleasant than those applied to the front or both sides of the torso, which can be explained by the lower sensitivity on the back. Taken together, we suggest that perceived intensity partially explains the relationship between the emotionality of vibration patterns on the torso.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144274670","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

Electrophysiological Correlates for the Detection of Haptic Illusions. 触觉错觉检测的电生理关联。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-06-09 DOI: 10.1109/TOH.2025.3578076

Yannick Weiss, Albrecht Schmidt, Steeven Villa

{"title":"Electrophysiological Correlates for the Detection of Haptic Illusions.","authors":"Yannick Weiss, Albrecht Schmidt, Steeven Villa","doi":"10.1109/TOH.2025.3578076","DOIUrl":"https://doi.org/10.1109/TOH.2025.3578076","url":null,"abstract":"Haptic Illusions (HIs) have emerged as a versatile method to enrich haptic experiences for computing systems, especially in virtual reality scenarios. Unlike traditional haptic rendering, HIs do not rely on complex hardware. Instead, HIs leverage multisensory interactions, which can be elicited through audio-visual channels. However, the intensity at which HIs can be effectively applied is highly subject-dependent, and typical measures only estimate generalized boundaries based on small samples. Consequently, resulting techniques compromise the experience for some users and fail to fully exploit an HI for others. We propose adapting HI intensity to the physiological responses of individual users to optimize their haptic experiences. Specifically, we investigate electroencephalographic (EEG) correlates associated with the detection of an HI's manipulations. For this, we integrated EEG with an established psychophysical protocol. Our user study (N = 32) revealed distinct and separable EEG markers between detected and undetected HI manipulations. We identified contrasts in oscillatory activity between the central and parietal, as well as in frontal regions, as reliable markers for detection. Further, we trained machine learning models with simple averaged signals, which demonstrated potential for future in situ HI detection. These discoveries pave the way for adaptive HI systems that tailor elicitation to individual and contextual factors, enabling HIs to produce more convincing and reliable haptic feedback.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144257982","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

Evaluating factors affecting the perception of multi-sensory vibration and skin-squeeze cues during voluntary movement. 评估因素影响感知多感官振动和皮肤挤压提示在自愿运动。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-05-22 DOI: 10.1109/TOH.2025.3572862

Zachary Logan, Quinn Deitrick, Katie Fitzsimons

{"title":"Evaluating factors affecting the perception of multi-sensory vibration and skin-squeeze cues during voluntary movement.","authors":"Zachary Logan, Quinn Deitrick, Katie Fitzsimons","doi":"10.1109/TOH.2025.3572862","DOIUrl":"https://doi.org/10.1109/TOH.2025.3572862","url":null,"abstract":"Haptic wearables are capable of increasing realism in VR/AR, enabling an additional stream of information in robotic teleoperation, and augmenting feedback for motor learning. However, it is not clear how the perceptual capacity of end-users may be affected by real-world scenarios. Specifically, we hypothesized that perception of multi-sensory cues would be less accurate when the cues were presented during voluntary movement as opposed to cues presented at rest. We also believed that differences in haptic perception might be overcome with data-driven models of user perception. In this study, participants respond to a multi-sensory haptic cue indicating the direction and speed with vibration and skin squeeze, respectively. The accuracy of this response was evaluated at rest and during voluntary motion. The experimental results demonstrate that voluntary motion does not have a significant impact on the perception accuracy of haptic cues. Perception models were fit to the participant responses and compared using absolute decoding error. The results of the model analysis shows that data-driven models could be used to provide improved haptic feedback across users.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144127397","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

Haptic Rendering Using Reality-Based Force Profiles in Surgical Simulation. 在外科手术模拟中使用基于现实的力轮廓的触觉渲染。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-05-16 DOI: 10.1109/TOH.2025.3570810

Oystein Bjelland, Bismi Rasheed, Intissar Cherif, Andreas F Dalen, Amine Chellali, Martin Steinert, Robin T Bye

{"title":"Haptic Rendering Using Reality-Based Force Profiles in Surgical Simulation.","authors":"Oystein Bjelland, Bismi Rasheed, Intissar Cherif, Andreas F Dalen, Amine Chellali, Martin Steinert, Robin T Bye","doi":"10.1109/TOH.2025.3570810","DOIUrl":"10.1109/TOH.2025.3570810","url":null,"abstract":"This paper presents a novel method for simplifying kinesthetic haptic rendering of complex contact interactions in arthroscopic surgery training simulators using reality-based force profiles. We demonstrate continuous kinesthetic feedback for applications to arthroscopic knee portal creation and diagnostic meniscus examination. This involves measuring characteristic force profiles in ex vivo experiments, simulator implementation in SOFA, and performing user validation experiments. When comparing the method with linear-elastic-based haptic feedback for meniscus stiffness discrimination, novices had difference thresholds of 1.80 MPa (linear-elastic) and 1.47 MPa (reality-based), while experts showed thresholds of 0.99 MPa and 1.39 MPa, respectively, indicating finer sensitivity among experts. Experts also used significantly less force (${mathit{p}}mathbf {< 0.05}$) and had shorter decision times (${mathit{p}}mathbf {< 0.05}$) than novices across both methods, indicating construct validity. Although kinesthetic feedback was verified with ex vivo experiments for portal creation, user validation was here inconclusive due to minor inconsistencies in the integration of visual and haptic feedback. Limitations include triggering material removal via instrument penetration instead of haptic force limits, as well as omitting contact vibrations. The method gives only a minor reduction in computation speed. Examples are available on GitHub.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144077708","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

The Influence of Mass and Friction in Teleoperated Tasks. 质量和摩擦对遥操作任务的影响。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-05-16 DOI: 10.1109/TOH.2025.3570795

Christophe van der Walt, Sara Falcone, Jan van Erp, Stefano Stramigioli, Douwe Dresscher

{"title":"The Influence of Mass and Friction in Teleoperated Tasks.","authors":"Christophe van der Walt, Sara Falcone, Jan van Erp, Stefano Stramigioli, Douwe Dresscher","doi":"10.1109/TOH.2025.3570795","DOIUrl":"10.1109/TOH.2025.3570795","url":null,"abstract":"Model Mediated Teleoperation (MMT) is a method of teleoperation by which a model of the environment is displayed to the operator for delay-free feedback. The choice of the model is important to the performance of the system. A more descriptive model will give the operator more accurate feedback, but this can cause problems for the estimator and the renderer required to make MMT function. However, if certain environmental dynamics are not used by the operator to effectively manipulate the environment, they could be excluded from the feedback, thus mitigating thew problems caused for the estimator and renderer. This work investigates whether mass and friction modelling influence an operator's effectiveness at accomplishing teleoperated tasks as measured by a subjective Sense of Embodiment, environmental interaction force, and task completion time. It was found that mass had a significant influence (p$< $ 0.001) on task completion time and interaction force, whereas static and dynamic friction only had an influence on completion time when mass feedback was absent (p$< $ 0.001). In all cases, the presence of a dynamic effect increased interaction force and task completion time.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144077719","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

Haptic rendering for multi-phase tooth extraction process. 多阶段拔牙过程的触觉渲染。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-05-13 DOI: 10.1109/TOH.2025.3569724

Xiaohan Zhao, Mengwei Pang, Ping Ji, Aimin Hao, Dangxiao Wang

{"title":"Haptic rendering for multi-phase tooth extraction process.","authors":"Xiaohan Zhao, Mengwei Pang, Ping Ji, Aimin Hao, Dangxiao Wang","doi":"10.1109/TOH.2025.3569724","DOIUrl":"https://doi.org/10.1109/TOH.2025.3569724","url":null,"abstract":"Tooth extraction simulation with force feedback can provide a valuable training tool for dental students, familiarizing them with the detailed motion and force patterns involved in this procedure. This simulation encounters two major challenges - replicating the forceps' 7-DoF motion and accurately simulating the distinct phases of tooth extraction. This paper presents a comprehensive haptic simulation framework for simulating tooth extraction with force feedback, combining both hardware and software solutions. A pivotal feature of this system is the 7-DoF haptic rendering algorithm capable of simulating the 7-DoF motion of forceps. Additionally, a haptic handle resembling the extraction forceps and offering robust connectivity is developed. Furthermore, a multi-phase tooth extraction framework is proposed to simulate the entire tooth extraction process. This framework incorporates physical models to emulate the haptic characteristics of different extraction phases and includes predefined entry criteria for each phase to achieve accurate identification and seamless transitions. The system's effectiveness is validated through objective and subjective experiments, confirming its ability to faithfully replicate the unique haptic features of each extraction phase. Feedback from dental novices and experts indicates that this system could make a significant contribution to tooth extraction training, providing distinct advantages over traditional oral model practices.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144077704","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