IEEE Transactions on Haptics最新文献

{"title":"Effects of Wall and Freespace Damping Levels on Virtual Wall Stiffness Classification","authors":"Emma Treadway;Kristian Journet;Andrew Deering;Cora Lewis;Noelle Poquiz","doi":"10.1109/TOH.2024.3434975","DOIUrl":"10.1109/TOH.2024.3434975","url":null,"abstract":"Virtual damping is often employed to improve stability in virtual environments, but it has previously been found to bias perception of stiffness, with its effects differing when it is introduced locally within a wall/object or globally in both the wall and in freespace. Since many potential applications of haptic rendering involve not only comparisons between two environments, but also the ability to recognize rendered environments as belonging to different categories, it is important to understand the perceptual impacts of freespace and wall damping on stiffness classification ability. This study explores the effects of varying levels of freespace and wall damping on users' ability to classify virtual walls by their stiffness. Results indicate that freespace damping improves wall classification if the walls are damped, but will impair classification of undamped walls. These findings suggest that, in situations where users are expected to recognize and classify various stiffnesses, freespace damping can be a factor in narrowing or widening gaps in extended rate-hardness between softer and stiffer walls.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"794-805"},"PeriodicalIF":2.4,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141792353","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":"3D-Printed Models for Optimizing Tactile Braille & Shape Display","authors":"Maryam Etezad;Rajeev Joshi;Robert Alexander;Franceli L. Cibrian","doi":"10.1109/TOH.2024.3433582","DOIUrl":"10.1109/TOH.2024.3433582","url":null,"abstract":"Existing market-available refreshable Braille displays (RBDs) offer limited functionality at a high cost, hindering accessibility for individuals with blindness and visual impairment for teaching and learning purposes. This motivates us to develop a multi-functional, compact, and affordable RBD tailored for educational institutes to enhance teaching and learning experiences. We propose the development of BLISS (Braille Letters and Interactive Shape Screen), a novel RBD, that BLISS presents a unique configuration arrangement of Braille cells that accommodates up to six letters at a time and shapes by reusing the Braille pins. To determine the optimal specifications, including size, Braille cell spacing, and pin configuration, we fabricated and evaluated 3D-printed sets, mimicking how BLISS would display letters and shapes. We tested 36 variants of 3D-printed sets with 8 individuals with blindness and visual impairment and found that conventional Braille spacing is insufficient for accurately representing shapes. Hence, BLISS will introduce a novel design that uses a pin configuration to raise the extra pins to present shapes and lower them for Braille letters, providing dual-mode operation. Our findings show the potential of BLISS to display both Braille letters and shapes on the same refreshable display, offering a novel, compact, and cost-effective solution.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"782-793"},"PeriodicalIF":2.4,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141758428","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":"Enhance Kinesthetic Experience in Perceptual Learning for Welding Motor Skill Acquisition With Virtual Reality and Robot-Based Haptic Guidance","authors":"Yang Ye;Pengxiang Xia;Fang Xu;Jing Du","doi":"10.1109/TOH.2024.3432835","DOIUrl":"10.1109/TOH.2024.3432835","url":null,"abstract":"Welding is an important operation in many industries, including construction and manufacturing, which requires extensive training and practices. Although welding simulators have been used to accommodate welding training, it is still challenging to enable novice trainees to effectively understand the kinesthetic experience of the expert in an egocentric manner, such as the proper way of force exertion in complex welding operations. This study implements a robot-assisted perceptual learning system to transfer the expert welders’ experience to trainees, including both the positional and force control actions. A human-subject experiment (N = 30) was performed to understand the motor skill acquisition process. Three conditions (control, robotic positional guidance with force visualization, and force perceptual learning with position visualization) were tested to evaluate the role of robotic guidance in welding motion control and force exertion. The results indicated various benefits related to task completion time and force control accuracy under the robotic guidance. The findings can inspire the design of future welding training systems enabled by external robotic systems.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"771-781"},"PeriodicalIF":2.4,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141751562","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":"Low-Frequency Motor Cortex EEG Predicts Four Rates of Force Development","authors":"Rory O'Keeffe;Seyed Yahya Shirazi;Alessandro Del Vecchio;Jaime Ibáñez;Natalie Mrachacz-Kersting;Ramin Bighamian;John-Ross Rizzo;Dario Farina;S. Farokh Atashzar","doi":"10.1109/TOH.2024.3428308","DOIUrl":"10.1109/TOH.2024.3428308","url":null,"abstract":"The movement-related cortical potential (MRCP) is a low-frequency component of the electroencephalography (EEG) signal that originates from the motor cortex and surrounding cortical regions. As the MRCP reflects both the intention and execution of motor control, it has the potential to serve as a communication interface between patients and neurorehabilitation robots. In this study, we investigated the EEG signal recorded centered at the Cz electrode with the aim of decoding four rates of force development (RFD) during isometric contractions of the tibialis anterior muscle. The four levels of RFD were defined with respect to the maximum voluntary contraction (MVC) of the muscle as follows: Slow (20% MVC/s), Medium (30% MVC/s), Fast (60% MVC/s), and Ballistic (120% MVC/s). Three feature sets were assessed for describing the EEG traces in the classification process. These included: (i) \u0000<italic>MRCP Morphological Characteristics</i>\u0000 in the \u0000<inline-formula><tex-math>$delta$</tex-math></inline-formula>\u0000-band, such as timing and amplitude; (ii) \u0000<italic>MRCP Statistical Characteristics</i>\u0000 in the \u0000<inline-formula><tex-math>$delta$</tex-math></inline-formula>\u0000-band, such as standard deviation, mean, and kurtosis; and (iii) \u0000<italic>Wideband Time-frequency Features</i>\u0000 in the 0.1-90 Hz range. The four levels of RFD were accurately classified using a support vector machine. When utilizing the Wideband Time-frequency Features, the accuracy was 83% \u0000<inline-formula><tex-math>$pm$</tex-math></inline-formula>\u0000 9% (mean \u0000<inline-formula><tex-math>$pm$</tex-math></inline-formula>\u0000 SD). Meanwhile, when using the MRCP Statistical Characteristics, the accuracy was 78% \u0000<inline-formula><tex-math>$pm$</tex-math></inline-formula>\u0000 12% (mean \u0000<inline-formula><tex-math>$pm$</tex-math></inline-formula>\u0000 SD). The analysis of the MRCP waveform revealed that it contains highly informative data on the planning, execution, completion, and duration of the isometric dorsiflexion task. The temporal analysis emphasized the importance of the \u0000<inline-formula><tex-math>$delta$</tex-math></inline-formula>\u0000-band in translating to motor command, and this has promising implications for the field of neural engineering systems.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"900-912"},"PeriodicalIF":2.4,"publicationDate":"2024-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141619896","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":"Spatiotemporal Congruency Modulates Weighting of Visuotactile Information in Displacement Judgments","authors":"Nedim Goktepe;Knut Drewing;Alexander C. Schütz","doi":"10.1109/TOH.2024.3421953","DOIUrl":"10.1109/TOH.2024.3421953","url":null,"abstract":"Combining or integrating information from multiple senses often provides richer and more reliable estimates for the perception of objects and events. In daily life, sensory information from the same source often is in close spatiotemporal proximity. This can be an important determinant of whether and how multisensory signals are combined. The introduction of advanced technical display systems allows to present multisensory information in virtual environments. However, technical displays can lack the spatiotemporal fidelity of the real world due the rendering delays. Thus, any spatiotemporal incongruency could alter how information is combined. In the current study we tested this by investigating if and how spatially and temporally discrepant tactile displacement cues can supplement imprecise visual displacement cues. Participants performed a visual displacement task with visual and tactile displacement cues under spatial and temporal incongruency conditions. We modelled how participants combined visual and tactile information in visuotactile condition using their performance in visual only condition. We found that temporal incongruency lead to an increase in tactile weights although they were correlated with the congruency condition. In contrast, the spatial incongruency led to individual differences altering cue combination strategies. Our results illustrate the importance of spatiotemporal congruency for combining tactile and visual cues when making visual displacement judgments. Given the altered cue combination strategies and individual differences, we recommend developers to adopt individual spatiotemporal calibration procedures to improve the efficiency of the sensory augmentation.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"860-869"},"PeriodicalIF":2.4,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141563311","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":"Modulating the Fidelity and Spatial Extent of Electrotactile Stimulation to Elicit the Embodiment of a Virtual Hand","authors":"Martin A. Garenfeld;Alba Jiménez-Díaz;Victor Navarro-Moreno;Mario Tormo;Matija Štrbac;Erik Hernández;Rosa M. Baños;Rocío Herrero;Strahinja Došen","doi":"10.1109/TOH.2024.3424298","DOIUrl":"10.1109/TOH.2024.3424298","url":null,"abstract":"Restoring tactile feedback in virtual reality can improve user experience and facilitate embodiment. Electrotactile stimulation is an attractive technology in this context because it is compact and allows for high-resolution spatially distributed stimulation. In this study, a 32-channel tactile glove worn on the fingertips was used to provide tactile sensations during a virtual version of a rubber hand illusion experiment. To assess the benefits of multichannel stimulation, we modulated the spatial extent and fidelity of feedback. Thirty-six participants performed the experiment in two conditions, where stimulation was delivered to a single finger or all fingers, and three tactile stimulation types within each condition: no tactile feedback, simple single-point stimulation, and complex sliding stimulation mimicking the brush movements. Following each trial, the participants answered a multi-item embodiment questionnaire and reported the proprioceptive drift. The results confirmed that modulating the spatial extent of stimulation, from a single finger to all fingers, was indeed a successful strategy. When stimulating all fingers, tactile feedback significantly improved all subjective measures compared to receiving no tactile stimulation. However, unexpectedly, the second strategy, that of modulating the fidelity of feedback, was not successful since there was no difference between the simple and complex tactile feedback in any of the measures. The results, therefore, imply that the effects of tactile feedback are better expressed in a more dynamic scenario (i.e., making/breaking contact and stimulating different body locations), while it should be investigated if further improvements of the complex feedback can make it more effective than the simple approach.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"806-816"},"PeriodicalIF":2.4,"publicationDate":"2024-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141537869","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":"Guest Editorial Haptics in the Metaverse: Haptic Feedback for Virtual, Augmented, Mixed, and eXtended Realities","authors":"Claudio Pacchierotti;Francesco Chinello;Konstantinos Koumaditis;Massimiliano Di Luca;Eyal Ofek;Orestis Georgiou","doi":"10.1109/TOH.2024.3369192","DOIUrl":"https://doi.org/10.1109/TOH.2024.3369192","url":null,"abstract":"In The last few years, we have witnessed the rapid development of many innovative devices and original techniques for providing haptic sensations, e.g., using force feedback, mid-air interfaces [1], [2], props and encounter-type devices [3], [4], or exploiting perceptual phenomena with cross-modal effects such as pseudo-haptics [5]. While increasingly immersive and realistic experiences have developed at a fast pace, the emergence of a “metaverse” proposes new use cases where prolonged utilisation and social interactions become more frequent and widespread [6]. The metaverse definition is continuously evolving, however, for now it can been seen as a collective virtual shared space, created by the convergence of the physical and digital worlds, where users interact, socialize, and engage with each other through digital representations of themselves. This new direction in social interactions presents the haptics community with new challenges and opportunities. Indeed, as eXtended Reality (XR)\u0000¹","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"122-128"},"PeriodicalIF":2.4,"publicationDate":"2024-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10566110","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141435537","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}

{"title":"Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound","authors":"Saya Mizutani;Shun Suzuki;Atsushi Matsubayashi;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda","doi":"10.1109/TOH.2024.3416333","DOIUrl":"10.1109/TOH.2024.3416333","url":null,"abstract":"In spatiotemporal modulation (STM) and lateral modulation (LM) used in conventional mid-air ultrasound tactile stimulation, single or multiple focuses are moved by switching the ultrasound transducer phases. A problem with the phase switching method is the limitation of the focus motion speed due to rapid phase switching that causes sound pressure fluctuations. This paper proposes an LM method using multiple-frequency ultrasound to shift the ultrasound focal point without switching the phase. This method can demonstrate a continuous and stable moving stimulus with high-frequency components, without producing unnecessary audible noise. Using the proposed broad-band LM covering up to 400 Hz, we found that a high-frequency 400 Hz LM applied at a finger pad can display a stimulation area with the diameters comparable to or less than the half wavelength of 40 kHz ultrasound, where the perceptual size was evaluated as 4.2 mm for the long axis diameter and 3.4 mm for the short axis diameter.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"761-770"},"PeriodicalIF":2.4,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10561515","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141418729","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}

{"title":"Influence of Back Length on Vibrotactile Acuity in Vertical Direction","authors":"Astrid M. L. Kappers;Marloes P. A. van der Burgt;Savannah M. Nowak;Fabiènne P. van der Weide;Wouter K. Vos;Myrthe A. Plaisier","doi":"10.1109/TOH.2024.3385294","DOIUrl":"10.1109/TOH.2024.3385294","url":null,"abstract":"In this study, we were interested in the question whether vibrotactile thresholds on the back, in terms of the Just Noticeable Difference (JND), scale with back length. Although there exists only indirect physiological evidence, it could be assumed that the density of mechanoreceptors is lower if back size is larger. As a consequence, the JND would increase with back length. We measured psychophysical curves for 40 male participants with back lengths in the range of 36 to 55 cm. Nine equally spaced vibration motors were placed in vertical direction on their back, 2 cm left of the spine. For each stimulus pair, participants had to decide whether the second vibration was above or below the first vibration. It was found that the slope of the fit of the JND as a function of back length was not significantly different from zero, so contrary to our expectation, we did not find an influence of back length on JND. This means that when customizing a wearable haptic device for the back, measuring back length is not the way to go.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"978-983"},"PeriodicalIF":2.4,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140572828","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":"Synergistic Illusions: Enhancing Perceptual Effects of Pseudo-Attraction Force by Kinesthetic Illusory Hand Movement","authors":"Takuya Noto;Takuto Nakamura;Tomohiro Amemiya","doi":"10.1109/TOH.2024.3386199","DOIUrl":"10.1109/TOH.2024.3386199","url":null,"abstract":"We investigated the enhancement of the perceived force strength in force feedback devices by combining the pulling illusion with kinesthetic illusions. The pulling illusion (i.e., a sensation of being pulled or pushed) is induced by asymmetric vibrations applied to the fingertips, enabling the implementation of small, lightweight, and ungrounded force feedback devices. However, the perceived force intensity is limited. We focused on the kinesthetic illusion, a phenomenon in which the movement of a limb in the direction of muscle extension is illusively perceived by presenting vibrations to tendons or muscles as an illusion that could enhance the perceived strength of the pulling illusion. Moreover, we investigated the perceptual characteristics of force sensation by combining a kinesthetic illusion induced by wrist tendon vibration stimulation with a pulling illusion. The findings demonstrate that the direction of the pulling illusion was accurately perceived, even with simultaneous wrist tendon vibration stimuli. Importantly, the results suggest that tendon vibration on the wrist, rather than cutaneous vibration on the wrist, enhances the perceived force intensity of the pulling illusion at the fingertips. These findings indicate the potential for expanding the expressive capability of the pulling illusion.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"729-741"},"PeriodicalIF":2.4,"publicationDate":"2024-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10494909","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140572839","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}