IEEE Transactions on Haptics最新文献_第5页

Stiffness Perception With Delayed Visual Feedback During Unimanual and Bimanual Interactions 单手和双手交互过程中延迟视觉反馈的刚度感知。

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":"18 2","pages":"430-436"},"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 触觉手腕旋转引导中的振动触觉幻感。

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 Schäfer;Julian Seiler;Bastian Latsch;Mario Kupnik;Philipp Beckerle

{"title":"Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance","authors":"Niklas Schäfer;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":"18 2","pages":"437-443"},"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 TexSenseGAN：一个使用生成对抗网络优化纹理相关振动触觉反馈的用户导向系统。

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":"18 2","pages":"325-339"},"PeriodicalIF":2.4,"publicationDate":"2025-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10891204","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":"OA","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 将触摸添加到沉浸式媒体：MPEG触觉编码标准概述。

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;François 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 冲突感官线索下多模态触觉渲染感知真实感的人在环优化。

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":"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":"18 2","pages":"295-311"},"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

Gamifying Haptics User Studies: Comparison of Response Times From Smartphone Interfaces 游戏化触觉用户研究：智能手机界面响应时间的比较

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-30 DOI: 10.1109/TOH.2025.3536885

Bushra Kudsi;Doris Xu;Umit Sen;Kyle T. Yoshida;Fabio Stroppa;Cara M. Nunez;Mine Sarac

{"title":"Gamifying Haptics User Studies: Comparison of Response Times From Smartphone Interfaces","authors":"Bushra Kudsi;Doris Xu;Umit Sen;Kyle T. Yoshida;Fabio Stroppa;Cara M. Nunez;Mine Sarac","doi":"10.1109/TOH.2025.3536885","DOIUrl":"10.1109/TOH.2025.3536885","url":null,"abstract":"Haptics user studies are often restricted to a set, physical location and use methods that do not captivate the user. Applying game design elements can create an entertaining environment and increase user engagement. Using ubiquitous tools, like smartphones, to conduct haptics user studies could allow researchers to access larger participant groups while a gamified approach could facilitate the data collection by making the experiment more enjoyable. To explore this concept, this work presents a gamified version of an existing psychophysical experiment that investigates response time to multisensory cues using a smartphone based on “Whac-A-Mole”. We conducted a user study to compare our gamified interface with an existing psychophysical interface with thirteen participants exploring the response time from eighteen combinations of auditory, haptic, and visual stimuli at different levels of intensities and participant preferences for both interfaces. The results demonstrate that the gamified interface successfully captured similar trends in response times and significantly elevated participant enjoyment (<inline-formula><tex-math>$p < 0.003$</tex-math></inline-formula>), but did not result in equivalent response times to the original interface. This work shows the benefits and drawbacks of following a gamification approach when designing haptics user studies and discusses factors and trade-offs to consider when gamifying studies.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 2","pages":"423-429"},"PeriodicalIF":2.4,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541863","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

Enhancing Human Navigation Ability Using Force-Feedback From a Lower-Limb Exoskeleton 利用下肢外骨骼的力反馈增强人类导航能力。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-27 DOI: 10.1109/TOH.2025.3533974

Carlos Carrasquillo;Aakash Bajpai;Divya Iyengar;Killian Collins;Anirban Mazumdar;Aaron J. Young

{"title":"Enhancing Human Navigation Ability Using Force-Feedback From a Lower-Limb Exoskeleton","authors":"Carlos Carrasquillo;Aakash Bajpai;Divya Iyengar;Killian Collins;Anirban Mazumdar;Aaron J. Young","doi":"10.1109/TOH.2025.3533974","DOIUrl":"10.1109/TOH.2025.3533974","url":null,"abstract":"Humans operating in dynamic environments with limited visibility are susceptible to collisions with moving objects, occupational hazards, and/or other agents, which can result in personal injuries or fatalities. Most existing research has focused on using vibrotactile cues to address this challenge. In this work, we propose a fundamentally new approach that utilizes variable impedance on an active exoskeleton to guide humans away from hazards and towards safe areas. This framework combines artificial potential fields with current impedance-based theories of exoskeleton control to provide a comprehensive navigational system that is intuitive for human operators. First, we present the mathematical framework to encode information about the locations of obstacles and the safest direction in which to move. Next, we optimize controller parameters in a series of human-subject experiments. Finally, we evaluate the framework in virtual reality on a set of randomly generated obstacle fields in environments where vision is either fully or partially occluded. Our results suggest that the exoskeleton provides significant separation from obstacles and reduced collisions compared to vision alone in conditions where visibility was limited to less than 1.3 m. Our work demonstrates that force-feedback in parallel with a human can improve overall navigation ability in low visibility conditions.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 2","pages":"312-324"},"PeriodicalIF":2.4,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541862","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

Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device 校正和闭环控制提高了力反馈装置的性能。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-17 DOI: 10.1109/TOH.2025.3531471

Jun Zhang;Wenjie Shen;Liuchen Chen;Aiguo Song

{"title":"Calibration and Closed-Loop Control Improve Performance of a Force Feedback Device","authors":"Jun Zhang;Wenjie Shen;Liuchen Chen;Aiguo Song","doi":"10.1109/TOH.2025.3531471","DOIUrl":"10.1109/TOH.2025.3531471","url":null,"abstract":"Interaction accuracy and transparency of force feedback devices (FFDs) are crucial in applications like remote surgery, where high force feedback accuracy (FFA) ensures the safety of delicate procedures. However, few studies have introduced the force calibration of FFDs, especially addressing the low FFA issue in high dynamic motions. This paper proposes a calibration method and a closed-loop control (CLC) strategy for an FFD to enhance its FFA. Tailored calibration models were developed by decoupling factors causing feedback force errors. The CLC was achieved by modeling the FFD's kinematics, statics, and dynamics and integrating force and current information. Experimental results show that the integration of the models and CLC significantly improved FFA, evidenced by a reduction in mean absolute error (MAE) from 0.843 N to 0.054 N and a mean relative absolute error (MRAE) from 18.89% to 1.52% in static conditions. In dynamic motions, the MAE reduced from 3.10 N to 0.370 N, and the MRAE declined from 117.66% to 22.57%. With human-in-the-loop, the CLC reduced the MAE by about 93% and the MRAE by about 92%. The ablation study showed the effectiveness of each calibration model. Our methodology can be applied to similar motor-driven FFDs.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 1","pages":"255-268"},"PeriodicalIF":2.4,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541860","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

Real-Time Musical Haptics With Ultra-Wideband: A Study on Latency, Reliability, and Perception 超宽带实时音乐触觉：延迟、可靠性和感知的研究。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-06 DOI: 10.1109/TOH.2025.3525959

Luca Turchet;Christian Sassi;Davide Vecchia;Gian Pietro Picco

{"title":"Real-Time Musical Haptics With Ultra-Wideband: A Study on Latency, Reliability, and Perception","authors":"Luca Turchet;Christian Sassi;Davide Vecchia;Gian Pietro Picco","doi":"10.1109/TOH.2025.3525959","DOIUrl":"10.1109/TOH.2025.3525959","url":null,"abstract":"Ultra wideband (UWB) radios are popular for accurate distance estimation between devices. However, UWB also offers low-power, fast, reliable wireless communication. We exploit it here in a <italic>real-time musical haptics system for live performances: a wearable, wirelessly activated via UWB by the performer's instrument, augments the audience <italic>musical experience with a <italic>tactile sensory layer. Two challenges are crucial to the experience quality: <italic>i) communication must be <italic>reliable, to prevent corruption of tactile signals, and <italic>ii) these must reach the audience <italic>synchronously with the instrument sounds. We perform micro-benchmarks of UWB links alone in a controlled setup, showing that the haptic signal can be delivered reliably over UWB <italic>before the instrument sound, thus enabling proper compensation delays to <italic>perfectly realign sound and tactile vibration. We confirm this holds on the end-to-end system including haptic components by characterizing four proof-of-concept prototypes combining different UWB-enabled instruments and wearables. Finally, we reconcile these objective measures with subjective ones via a user study focusing on <italic>perception, yielding very positive outcomes. Together, these results confirm the potential of UWB-based musical haptics for enhancing the audience experience at live performances in ways hitherto unexplored.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 1","pages":"269-280"},"PeriodicalIF":2.4,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541867","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 Impact of Stimulation Parameters on Reaction Times Following Transcutaneous Electrical Stimulation in the Lower Leg 刺激参数对小腿经皮电刺激后反应时间的影响。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2025-01-06 DOI: 10.1109/TOH.2025.3526542

Jia Liu;Anders Björkman;Christian Antfolk;Nebojsa Malesevic

{"title":"The Impact of Stimulation Parameters on Reaction Times Following Transcutaneous Electrical Stimulation in the Lower Leg","authors":"Jia Liu;Anders Björkman;Christian Antfolk;Nebojsa Malesevic","doi":"10.1109/TOH.2025.3526542","DOIUrl":"10.1109/TOH.2025.3526542","url":null,"abstract":"The growing need for human-machine interfaces (HMIs) underscores the importance of sensory feedback, with electrical stimulation offering efficient interaction in various applications. While its sensory effects are extensively studied, investigations into the reaction time (RT) following transcutaneous electrical stimulation (TES) remain limited. This study aimed to evaluate how stimulation parameters influence RT. We examined RT and RT variability among twenty healthy participants aged 21 to 61 years. Participants underwent 16 stimulation patterns (10 repetitions per pattern) with combinations of four pulse frequencies (4, 26, 48, 70 Hz) and four pulse amplitudes (1.5, 2.0, 2.5, 3.0 times of sensory threshold) on four skin locations in the lower leg above peroneal nerve, tibial nerve, tibialis anterior muscle, and a lateral shank control site. RT was assessed as participants dorsiflexed their foot in response to electrical stimulation. Results revealed that both RT and its variability decreased as pulse frequency and amplitude increased, and there was an interaction effect between pulse frequency and amplitude. However, no significant difference was found in RT across stimulation locations. These findings demonstrate how stimulation parameters affect the speed and efficiency of communication between the user and the stimulator, showing promises for augmenting real-time feedback HMIs.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 2","pages":"284-294"},"PeriodicalIF":2.4,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10829673","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143541870","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