IEEE Transactions on Haptics最新文献_第6页

Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm 设计和评估用于前臂方向剪切力提示的 3-DoF 触觉设备

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-13 DOI: 10.1109/TOH.2024.3365669

Kyle T. Yoshida;Zane A. Zook;Hojung Choi;Ming Luo;Marcia K. O'Malley;Allison M. Okamura

{"title":"Design and Evaluation of a 3-DoF Haptic Device for Directional Shear Cues on the Forearm","authors":"Kyle T. Yoshida;Zane A. Zook;Hojung Choi;Ming Luo;Marcia K. O'Malley;Allison M. Okamura","doi":"10.1109/TOH.2024.3365669","DOIUrl":"10.1109/TOH.2024.3365669","url":null,"abstract":"Wearable haptic devices on the forearm can relay information from virtual agents, robots, and other humans while leaving the hands free. We introduce and test a new wearable haptic device that uses soft actuators to provide normal and shear force to the skin of the forearm. A rigid housing and gear motor are used to control the direction of the shear force. A 6-axis force/torque sensor, distance sensor, and pressure sensors are integrated to quantify how the soft tactor interacts with the skin. When worn by participants, the device delivered consistent shear forces of up to 0.64 N and normal forces of up to 0.56 N over distances as large as 14.3 mm. To understand cue saliency, we conducted a user study asking participants to identify linear shear directional cues in a 4-direction task and an 8-direction task with different cue speeds, travel distances, and contact patterns. Participants identified cues with longer travel distances best, with an 85.1% accuracy in the 4-direction task, and a 43.5% accuracy in the 8-direction task. Participants had a directional bias, with a preferential response in the axis towards and away from the wrist bone.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"483-495"},"PeriodicalIF":2.4,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139729532","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 Hydraulic Haptic Actuator for Simulation of Cardiac Catheters 用于模拟心脏导管的液压触觉执行器

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-12 DOI: 10.1109/TOH.2024.3364689

Chengjie Li;Doo Yong Lee

引用次数: 0

UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism UltLever：基于利用简单杠杆机制放大辐射力的超声波驱动被动触觉执行器

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-08 DOI: 10.1109/TOH.2024.3363764

Tao Morisaki;Takaaki Kamigaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda

{"title":"UltLever: Ultrasound-Driven Passive Haptic Actuator Based on Amplifying Radiation Force Using a Simple Lever Mechanism","authors":"Tao Morisaki;Takaaki Kamigaki;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda","doi":"10.1109/TOH.2024.3363764","DOIUrl":"10.1109/TOH.2024.3363764","url":null,"abstract":"A lightweight haptic display that does not interfere with the user's natural movement is required for an immersive haptic experience. This study proposes a lightweight, powerful, and responsive passive haptic actuator driven by airborne focused ultrasound. This 6.2 g completely plastic passive device amplifies an applied ultrasound radiation force by a factor of 35 using a simple lever mechanism, presenting an amplified force of 0.7 N to the user's finger pad. 2–30 Hz vibration can also be presented. Since the radiation force is presented at the speed of sound, the amplified force is presented at high speed even with the high amplification rate of a lever, achieving such strong force and vibration presentation. Physical measurements showed that the amplified force was 0.7 N for the 20.48 mN input radiation force, and the amplitude of the presented vibration was over 0.1 N at 2–30 Hz. A psychophysical experiment showed that the vibration and force were perceivable with a device output level of −7.7 dB. In the future, we will explore methodologies around device design to present desired tactile sensations.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 3","pages":"471-482"},"PeriodicalIF":2.4,"publicationDate":"2024-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10428111","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139706628","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

Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task. 皮肤拉伸触觉反馈增强技术提高了模拟腹腔镜触诊任务中的表现。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-07 DOI: 10.1109/TOH.2024.3363422

Charlelie Saudrais, Bernard Bayle, Marie-Aude Vitrani, Fabien Verite

{"title":"Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task.","authors":"Charlelie Saudrais, Bernard Bayle, Marie-Aude Vitrani, Fabien Verite","doi":"10.1109/TOH.2024.3363422","DOIUrl":"https://doi.org/10.1109/TOH.2024.3363422","url":null,"abstract":"Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised. This paper evaluates the effectiveness of a forearm-based skin-stretch haptic feedback system rendering surgical tool tip force. Twenty novice participants had to discern the stiffness of samples to investigate stiffness perception in a simulated laparoscopic task. The experimental protocol involved manipulating samples with three difficulty levels and testing three feedback conditions: no augmentation, visual feedback, and tactile feedback. The results demonstrate that feedback significantly enhances the success rate of laparoscopic palpation tasks. The proposed tactile feedback boosts confidence and task speed and reduces peak force and perceived workload. These benefits become even more pronounced when difficulty increases. These promising findings affirm the value of skin-stretch haptic feedback augmentation in improving performance for simulated laparoscopy tasks, paving the way for more integrated and deployable devices for the operating room.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.9,"publicationDate":"2024-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139702372","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

Bi-Manual Sensory Discrimination: A Kinesthetic Study 双人感官辨别：运动学研究

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-06 DOI: 10.1109/TOH.2024.3362352

Suhas Kakade;Subhasis Chaudhuri;Abhishek Gupta

{"title":"Bi-Manual Sensory Discrimination: A Kinesthetic Study","authors":"Suhas Kakade;Subhasis Chaudhuri;Abhishek Gupta","doi":"10.1109/TOH.2024.3362352","DOIUrl":"10.1109/TOH.2024.3362352","url":null,"abstract":"The ability of humans to perceive and differentiate kinesthetic sensory information significantly influences our daily activities and motor control. This study examines the impact of asynchronous bi-manual discrimination tasks compared to uni-manual discrimination tasks on kinesthetic perception. Our study aims to reveal the relationship between kinesthetic perception of haptic signals by examining perceptual thresholds in three different scenarios using (i) the dominant hand, (ii) the non-dominant hand, and (iii) both hands simultaneously to differentiate between two successive signals. Subjects exposed to force signals in these three situations conveyed their perceptions of alterations in signal magnitude after each trial. Subsequently, we applied psychometric functions to the collected responses to determine perceptual thresholds. Our results indicate a substantial difference in threshold values between bi-manual and uni-manual scenarios, with the bi-manual scenario exhibiting higher thresholds, indicating inferior perceptual ability when both hands are simultaneously utilized in two separate discrimination tasks. Furthermore, our investigation reveals distinct perception thresholds between the dominant and non-dominant hands, owing to differences in the perceptual capability of the two hands. These findings provide substantial insight into how the nature of tasks may alter kinesthetic perception, offering implications for the development of haptic interfaces in practical applications.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"116-121"},"PeriodicalIF":2.9,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139697279","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

Rotational Motion Due to Skin Shear Deformation at Wrist and Elbow 腕部和肘部皮肤剪切变形引起的旋转运动。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-06 DOI: 10.1109/TOH.2024.3362407

Takuto Nakamura;Hideaki Kuzuoka

引用次数: 0

A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites. 对智能手机和标准工具在多个身体部位进行触觉评估的比较分析。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-02-05 DOI: 10.1109/TOH.2024.3362154

Rachel A G Adenekan, Alejandrina Gonzalez Reyes, Kyle T Yoshida, Sreela Kodali, Allison M Okamura, Cara M Nunez

{"title":"A Comparative Analysis of Smartphone and Standard Tools for Touch Perception Assessment Across Multiple Body Sites.","authors":"Rachel A G Adenekan, Alejandrina Gonzalez Reyes, Kyle T Yoshida, Sreela Kodali, Allison M Okamura, Cara M Nunez","doi":"10.1109/TOH.2024.3362154","DOIUrl":"10.1109/TOH.2024.3362154","url":null,"abstract":"Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and the 128 Hz tuning fork, have poor repeatability and resolution. Long term, we aim to provide a repeatable, high-resolution testing platform that can be used to assess vibrotactile perception through smartphones without the need for an experimenter to be present to conduct the test. We present a smartphone-based vibration perception measurement platform and compare its performance to measurements from standard monofilament and tuning fork tests. We conducted a user study with 36 healthy adults in which we tested each tool on the hand, wrist, and foot, to assess how well our smartphone-based vibration perception thresholds (VPTs) detect known trends obtained from standard tests. The smartphone platform detected statistically significant changes in VPT between the index finger and foot and also between the feet of younger adults and older adults. Our smartphone-based VPT had a moderate correlation to tuning fork-based VPT. Our overarching objective is to develop an accessible smartphone-based platform that can eventually be used to measure disease progression and regression.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"PP ","pages":""},"PeriodicalIF":2.4,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139691686","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

Establishing Natural Tactile Mappings: Mapping Tactile Parameters to Continuous Data Concepts 建立自然的触觉映射：将触觉参数映射为连续数据概念。

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-01-31 DOI: 10.1109/TOH.2024.3357416

Nicholas Gardella;Sara L. Riggs

引用次数: 0

Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction 放宽保守主义以增强触觉交互的阻抗范围和透明度

IF 2.9 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-01-29 DOI: 10.1109/TOH.2024.3359230

Huseyin Tugcan Dinc;Thomas Hulin;Christian Ott;Jee-Hwan Ryu

{"title":"Relaxing Conservatism for Enhanced Impedance Range and Transparency in Haptic Interaction","authors":"Huseyin Tugcan Dinc;Thomas Hulin;Christian Ott;Jee-Hwan Ryu","doi":"10.1109/TOH.2024.3359230","DOIUrl":"10.1109/TOH.2024.3359230","url":null,"abstract":"The Time Domain Passivity Approach (TDPA) has been accepted as one of least conservative tools for designing stabilizing controllers in haptics and teleoperation, but it still suffers from conservatism because it is based on passivity. Additionally, high-frequency, immediate control actions lead to a degradation of transparency. In this paper, we propose a method to relax the conservatism of haptic interaction and enhance stable impedance range while maintaining high transparency. Based on the observation of energy exchange behavior in pressing and releasing paths in haptic interaction, we introduce an energy cycle as a completion of a pressing and releasing path. With this new concept, we compare the energies at the end of each energy cycle to estimate the energy generation and inject adaptive damping to regulate it over upcoming cycles. Because we wait a pressing-releasing cycle is completed, we allow energy to be generated, but we regulate the amount of generated energy over upcoming cycles by injecting adaptive damping. In this way, we perform low-frequency control actions on system dynamics. These in turn enable us to achieve high transparency. We show the validity of the proposed approach through several simulations and experiments, and show that it enhances the stable impedance range and transparency compared to the TDPA.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 1","pages":"100-107"},"PeriodicalIF":2.9,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139575624","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

Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality 在增强现实中进行 3D 操作时的手部视觉-触觉渲染。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-01-26 DOI: 10.1109/TOH.2024.3358910

Erwan Normand;Claudio Pacchierotti;Eric Marchand;Maud Marchal

{"title":"Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality","authors":"Erwan Normand;Claudio Pacchierotti;Eric Marchand;Maud Marchal","doi":"10.1109/TOH.2024.3358910","DOIUrl":"10.1109/TOH.2024.3358910","url":null,"abstract":"Manipulating virtual objects with bare hands is a key interaction in Augmented Reality (AR) applications. However, there are still several limitations that affect the manipulation, including the lack of mutual visual occlusion between virtual and real content as well as the lack of haptic sensations. To address the two abovementioned matters, the role of the visuo-haptic rendering of the hand as sensory feedback is investigated. The first experiment explores the effect of showing the hand of the user as seen by the AR system through an avatar, comparing six visual hand rendering. The second experiment explores the effect of the visuo-haptic hand rendering by comparing two vibrotactile contact techniques provided at four delocalized positions on the hand and combined with the two most representative visual hand renderings from the first experiment. Results show that delocalized vibrotactile haptic hand rendering improved perceived effectiveness, realism, and usefulness when provided close to the contact point. However, the farthest rendering position, i.e., on the contralateral hand, gave the best performance even though it was largely disliked. The visual hand rendering was perceived as less necessary for manipulation when the haptic hand rendering was available, but still provided useful feedback on the hand tracking.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 2","pages":"277-291"},"PeriodicalIF":2.4,"publicationDate":"2024-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139567097","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