IEEE Transactions on Haptics最新文献_第2页

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 D. Carducci;Noah J. Cowan;Jeremy D. Brown

{"title":"Teleoperator Coupling Dynamics Impact Human Motor Control Across Pursuit Tracking Speeds","authors":"Jacob D. Carducci;Noah J. Cowan;Jeremy D. Brown","doi":"10.1109/TOH.2025.3546522","DOIUrl":"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":"18 1","pages":"20-31"},"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. 用天鹅绒拉长时间：情感材料如何塑造我们对时间的感知。

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

Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-20 DOI: 10.1109/TOH.2025.3544134

Suraj Suman, Pranav Mamidanna, Jimmy Jessen Nielsen, Federico Chiariotti, Cedomir Stefanovic, Strahinja Dosen, Petar Popovski

{"title":"Closed-Loop Manual Control With Tactile or Visual Feedback Under Wireless Link Impairments.","authors":"Suraj Suman, Pranav Mamidanna, Jimmy Jessen Nielsen, Federico Chiariotti, Cedomir Stefanovic, Strahinja Dosen, Petar Popovski","doi":"10.1109/TOH.2025.3544134","DOIUrl":"10.1109/TOH.2025.3544134","url":null,"abstract":"The emergence of low-latency wireless connectivity has opened significant new possibilities for closed-loop human-machine interaction (HMI) systems. However, data transmission, particularly over wireless links, suffers from impairments, such as random latency fluctuations and packet loss, affecting the overall control performance of HMI systems. In this study, we have evaluated the impact of wireless impairments for a closed-loop joystick-controlled trajectory tracking task. This has been done with two different types of feedback, visual and tactile, respectively. Wireless links were used both in the uplink transmission of command signal and the downlink transmission of feedback signal. The effects of wireless impairments were incorporated by artificially introducing latency, jitter, and packet loss recorded in real-life deployment scenarios, both in the uplink and the downlink. The results obtained across 12 able-bodied participants showed that the tracking performance was better with visual feedback than with tactile feedback across all impairment conditions. The average latency significantly affected performance, while random latency fluctuations did not. Interestingly, the performance degradation due to increasing impairments in case of tactile feedback was similar to the one observed for visual feedback. One of the main novelties brought by this study is the quantification of the impact of wireless impairments on closed-loop teleoperation tasks with tactile feedback. The results provide valuable insights for designing wireless infrastructure for tactile internet applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143556733","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

Stiffness Perception With Delayed Visual Feedback During Unimanual and Bimanual Interactions.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-17 DOI: 10.1109/TOH.2025.3542471

Ido Gurevich, Shani Arusi, Ilana Nisky

{"title":"Stiffness Perception With Delayed Visual Feedback During Unimanual and Bimanual Interactions.","authors":"Ido Gurevich, Shani Arusi, Ilana Nisky","doi":"10.1109/TOH.2025.3542471","DOIUrl":"10.1109/TOH.2025.3542471","url":null,"abstract":"During interactions with elastic objects, we integrate haptic and visual information to create stiffness perception. In many practical applications, either haptic or visual feedback may be delayed. Previous studies have investigated stiffness perception with delayed force or visual feedback in vertical interactions using the right hand. However, most daily interactions entail bimanual interactions that may be performed horizontally. Here, we studied the effect of visual delay sizes on stiffness perception during horizontal right-hand unimanual and bimanual interactions. We designed two forced-choice paradigm experiments. We asked right-handed participants to interact with pairs of elastic objects with either their right hand or both hands and determine which object felt stiffer. We delayed the visual information of one of the objects. In right-hand unimanual and bimanual interactions, consistent with previous studies, visual delay caused an overestimation of stiffness that increased with delay size. Interestingly, the participants' sensitivity to small differences in stiffness deteriorated due to delay only in right-hand unimanual and not bimanual interactions. The advantage in sensitivity of bimanual interactions compared to right-hand unimanual interactions could be considered in designing visual-haptic interfaces with delayed feedback. However, future studies are needed to determine the sensory mechanism that is responsible for this result.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143556734","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

Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-17 DOI: 10.1109/TOH.2025.3542604

Niklas Schafer, Julian Seiler, Bastian Latsch, Mario Kupnik, Philipp Beckerle

{"title":"Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance.","authors":"Niklas Schafer, Julian Seiler, Bastian Latsch, Mario Kupnik, Philipp Beckerle","doi":"10.1109/TOH.2025.3542604","DOIUrl":"10.1109/TOH.2025.3542604","url":null,"abstract":"Haptic motion guidance has the potential to advance assistive technologies that support humans in movement tasks. This study systematically evaluates wrist rotation guidance methods in a 2×2 repeated measures design using a wearable vibrotactile feedback device. In two tasks, we investigate the benefits of encoding the current target distance in the cue strength and conveying additional information about the target location by incorporating a tactile illusion known as phantom sensation. For a directional response task, we analyze reaction times and error rates, and for an angle targeting task, we examine rise time, settling time, and maximum overshoot of the normalized step responses. These objective criteria are complemented by subjective user ratings that assess the intuitiveness and ease of interpreting the vibrotactile cues. Feedback methods incorporating an adaptive amplitude perform significantly better in the angle targeting task compared to those using a constant amplitude. Additional improvements can be achieved by combining the adaptive amplitude with phantom sensations, including an average additional 24.3% reduction in rise time. Furthermore, more than half of the participants rate this combination as their favorite method. Altogether, the results underline the potential of incorporating phantom sensations in vibrotactile wrist guidance, thereby contributing to the advancement of wearable haptics in assistive applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143556736","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

TexSenseGAN: A User-Guided System for Optimizing Texture-Related Vibrotactile Feedback Using Generative Adversarial Network.

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-02-17 DOI: 10.1109/TOH.2025.3542424

Mingxin Zhang, Shun Terui, Yasutoshi Makino, Hiroyuki Shinoda

{"title":"TexSenseGAN: A User-Guided System for Optimizing Texture-Related Vibrotactile Feedback Using Generative Adversarial Network.","authors":"Mingxin Zhang, Shun Terui, Yasutoshi Makino, Hiroyuki Shinoda","doi":"10.1109/TOH.2025.3542424","DOIUrl":"10.1109/TOH.2025.3542424","url":null,"abstract":"Vibration rendering is essential for creating realistic tactile experiences in human-virtual object interactions, such as in video game controllers and VR devices. By dynamically adjusting vibration parameters based on user actions, these systems can convey spatial features and contribute to texture representation. However, generating arbitrary vibrations to replicate real-world material textures is challenging due to the large parameter space. This study proposes a human-in-the-loop vibration generation model based on user preferences. To enable users to easily control the generation of vibration samples with large parameter spaces, we introduced an optimization model based on Differential Subspace Search (DSS) and Generative Adversarial Network (GAN). With DSS, users can employ a one-dimensional slider to easily modify the high-dimensional latent space to ensure that the GAN can generate desired vibrations. We trained the generative model using an open dataset of tactile vibration data and selected five types of vibrations as target samples for the generation experiment. Extensive user experiments were conducted using the generated and real samples. The results indicated that our system could generate distinguishable samples that matched the target characteristics. Moreover, we established a correlation between subjects' ability to distinguish real samples and their ability to distinguish generated samples.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143556735","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