IEEE Transactions on Haptics最新文献_第7页

Guest Editorial Haptics in the Metaverse: Haptic Feedback for Virtual, Augmented, Mixed, and eXtended Realities 特邀编辑《元宇宙中的触觉技术》：虚拟现实、增强现实、混合现实和扩展现实的触觉反馈

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-06-20 DOI: 10.1109/TOH.2024.3369192

Claudio Pacchierotti;Francesco Chinello;Konstantinos Koumaditis;Massimiliano Di Luca;Eyal Ofek;Orestis Georgiou

{"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)\u0000<sup>1</sup>","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}

引用次数: 0

Local Area Tactile Stimulation Using Interference of Multi-Frequency Airborne Ultrasound 利用多频机载超声波干扰进行局部触觉刺激

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-06-18 DOI: 10.1109/TOH.2024.3416333

Saya Mizutani;Shun Suzuki;Atsushi Matsubayashi;Masahiro Fujiwara;Yasutoshi Makino;Hiroyuki Shinoda

引用次数: 0

Acceptance and Usability of a Soft Robotic, Haptic Feedback Seat for Autonomy Level Transitions in Highly Automated Vehicles 用于高度自动驾驶车辆自主级别转换的软机器人触觉反馈座椅的接受度和可用性。

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-04-25 DOI: 10.1109/TOH.2024.3392473

Jan Peters;Bani Anvari;Johann Licher;Mats Wiese;Annika Raatz;Helge Arne Wurdemann

{"title":"Acceptance and Usability of a Soft Robotic, Haptic Feedback Seat for Autonomy Level Transitions in Highly Automated Vehicles","authors":"Jan Peters;Bani Anvari;Johann Licher;Mats Wiese;Annika Raatz;Helge Arne Wurdemann","doi":"10.1109/TOH.2024.3392473","DOIUrl":"10.1109/TOH.2024.3392473","url":null,"abstract":"Fully autonomous vehicles, capable of completing entire end-to-end journeys without the interference of a human driver, will be one of the biggest transforming technologies of the next decades. As the journey towards fully autonomous vehicles progresses, there will be an increase in the number of highly automated vehicles on the roads, requiring the human driver to take back control in situations, which cannot be handled by the vehicle autonomously. These human-robot take-over requests can lead to safety risks, in particular in scenarios when the driver fails to understand the take-over request and, hence, lacks situational awareness. This paper presents the acceptance and usability assessment of a haptic feedback driver seat capable of informing the driver of a take-over request through static mechano-tactile haptic feedback. The seat is equipped with an embedded array of soft pneumatic actuators, that have been fully modelled and characterised. The evaluation process of the haptic feedback seat engaged 21 participants who experienced both auditory and haptic feedback from the seat in a number of simulation experiments within a driving simulator. The vehicular technology was assessed through well-established methods to understand the acceptance (usefulness and satisfaction) and usability of the haptic feedback driver seat.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"18 1","pages":"58-72"},"PeriodicalIF":2.4,"publicationDate":"2024-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140653365","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

Influence of Back Length on Vibrotactile Acuity in Vertical Direction 背部长度对垂直方向振动触觉敏锐度的影响

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-04-08 DOI: 10.1109/TOH.2024.3385294

Astrid M. L. Kappers;Marloes P. A. van der Burgt;Savannah M. Nowak;Fabiènne P. van der Weide;Wouter K. Vos;Myrthe A. Plaisier

引用次数: 0

Synergistic Illusions: Enhancing Perceptual Effects of Pseudo-Attraction Force by Kinesthetic Illusory Hand Movement 协同幻觉：通过动觉幻觉手部运动增强伪牵引力的感知效果

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-04-08 DOI: 10.1109/TOH.2024.3386199

Takuya Noto;Takuto Nakamura;Tomohiro Amemiya

{"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}

引用次数: 0

Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models 利用触觉反馈提高深度模仿学习模型的数据质量和数量

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-04-03 DOI: 10.1109/TOH.2024.3384482

Catie Cuan;Allison Okamura;Mohi Khansari

{"title":"Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models","authors":"Catie Cuan;Allison Okamura;Mohi Khansari","doi":"10.1109/TOH.2024.3384482","DOIUrl":"10.1109/TOH.2024.3384482","url":null,"abstract":"Learning from demonstration is a proven technique to teach robots new skills. Data quality and quantity play a critical role in the performance of models trained using data collected from human demonstrations. In this paper we enhance an existing teleoperation data collection system with real-time haptic feedback to the human demonstrators; we observe improvements in the collected data throughput and in the performance of autonomous policies using models trained with the data. Our experimental testbed was a mobile manipulator robot that opened doors with latch handles. Evaluation of teleoperated data collection on eight real conference room doors found that adding haptic feedback improved data throughput by 6%. We additionally used the collected data to train six image-based deep imitation learning models, three with haptic feedback and three without it. These models were used to implement autonomous door-opening with the same type of robot used during data collection. A policy from a imitation learning model trained with data collected while the human demonstrators received haptic feedback performed on average 11% better than its counterpart trained with data collected without haptic feedback, indicating that haptic feedback provided during data collection resulted in improved autonomous policies.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"984-991"},"PeriodicalIF":2.4,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140573009","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

Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact 胶原蛋白在接触过程中诱导指尖皮下组织的各向异性

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-03-28 DOI: 10.1109/TOH.2024.3406251

Guillaume H. C. Duprez;Benoit P. Delhaye;Laurent Delannay

{"title":"Collagen Induces Anisotropy in Fingertip Subcutaneous Tissues During Contact","authors":"Guillaume H. C. Duprez;Benoit P. Delhaye;Laurent Delannay","doi":"10.1109/TOH.2024.3406251","DOIUrl":"10.1109/TOH.2024.3406251","url":null,"abstract":"The subcutaneous mechanical response of the fingertip is highly anisotropic due to the presence of a network of collagen fibers linking the outer skin layer to the bone. The impact of this anisotropy on the fingerpad deformation, which had not been studied until now, is here demonstrated using a two-dimensional finite element model of a transverse section of the finger. Different distributions of fiber orientations are considered: radial (physiologic), circumferential, and random (isotropic). The three variants of the model are assessed using experimental observations of a finger pressed on a flat surface. Predictions relying on the physiological orientation of fibers best reproduce experimental trends. Our results show that the orientation of fibers significantly influences the distribution of internal strains and stresses. This leads to a sudden change in the profile of contact pressure when transitioning from sticking to slipping. Interpreted in terms of tactile perception or sensation, these variations might represent important sensory cues for partial slip detection. This is also valuable information for the development of haptic devices.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"753-760"},"PeriodicalIF":2.4,"publicationDate":"2024-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141160334","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

Development and Evaluation of a Learning-Based Model for Real-Time Haptic Texture Rendering 开发和评估基于学习的实时触觉纹理渲染模型

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-03-27 DOI: 10.1109/TOH.2024.3382258

Negin Heravi;Heather Culbertson;Allison M. Okamura;Jeannette Bohg

{"title":"Development and Evaluation of a Learning-Based Model for Real-Time Haptic Texture Rendering","authors":"Negin Heravi;Heather Culbertson;Allison M. Okamura;Jeannette Bohg","doi":"10.1109/TOH.2024.3382258","DOIUrl":"10.1109/TOH.2024.3382258","url":null,"abstract":"Current Virtual Reality (VR) environments lack the haptic signals that humans experience during real-life interactions, such as the sensation of texture during lateral movement on a surface. Adding realistic haptic textures to VR environments requires a model that generalizes to variations of a user's interaction and to the wide variety of existing textures in the world. Current methodologies for haptic texture rendering exist, but they usually develop one model per texture, resulting in low scalability. We present a deep learning-based action-conditional model for haptic texture rendering and evaluate its perceptual performance in rendering realistic texture vibrations through a multi-part human user study. This model is unified over all materials and uses data from a vision-based tactile sensor (GelSight) to render the appropriate surface conditioned on the user's action in real-time. For rendering texture, we use a high-bandwidth vibrotactile transducer attached to a 3D Systems Touch device. The results of our user study shows that our learning-based method creates high-frequency texture renderings with comparable or better quality than state-of-the-art methods without the need to learn a separate model per texture. Furthermore, we show that the method is capable of rendering previously unseen textures using a single GelSight image of their surface.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"705-716"},"PeriodicalIF":2.4,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140305448","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

Hardness Perceived When Sliding Over Roughened Surfaces 在粗糙表面上滑动时感受到的硬度

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-03-27 DOI: 10.1109/TOH.2024.3405728

Qingyu Sun;Shogo Okamoto;Hongbo Wang

{"title":"Hardness Perceived When Sliding Over Roughened Surfaces","authors":"Qingyu Sun;Shogo Okamoto;Hongbo Wang","doi":"10.1109/TOH.2024.3405728","DOIUrl":"10.1109/TOH.2024.3405728","url":null,"abstract":"The objective of this study was to investigate the influence of roughened surface features on the perceived hardness of various materials. Thirteen participants used a visual analog scale to evaluate the hardness of ten 3D-printed specimens by sliding a fingertip on them. The specimens had two types of surface features: flat and smooth, or with microscopic rectangular gratings. They were fabricated from two types of plastic with different Young's moduli—2.46 and 9.35 MPa. We found that both surface pattern and mechanical hardness significantly contributed to the perceived hardness of a material individually and without interaction. The roughened surfaces with rectangular gratings were judged to be harder than the flat and smooth surfaces of the same material. Among the parameters of the rectangular gratings, the groove width or periodic surface wavelength significantly contributed to the perceived hardness. Although the root cause of this phenomenon is unknown, friction caused by surface roughness is considered a potential mediator that influences the perceived hardness. The findings of this study can facilitate the manipulation of softness perception through surface design.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"992-997"},"PeriodicalIF":2.4,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141158367","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

Hands-Free Haptic Navigation Devices for Actual Walking 用于实际行走的免提触觉导航设备

IF 2.4 3区计算机科学

IEEE Transactions on Haptics Pub Date : 2024-03-27 DOI: 10.1109/TOH.2024.3405551

Astrid M.L. Kappers;Raymond J. Holt;Tessa J.W. Junggeburth;Max Fa Si Oen;Bart J.T. van de Wetering;Myrthe A. Plaisier

{"title":"Hands-Free Haptic Navigation Devices for Actual Walking","authors":"Astrid M.L. Kappers;Raymond J. Holt;Tessa J.W. Junggeburth;Max Fa Si Oen;Bart J.T. van de Wetering;Myrthe A. Plaisier","doi":"10.1109/TOH.2024.3405551","DOIUrl":"10.1109/TOH.2024.3405551","url":null,"abstract":"In this survey, we give an overview of hands-free haptic devices specifically designed for navigation guidance while walking. We present and discuss the devices by body part, namely devices for the arm, foot and leg, back, belly and shoulders, waist and finally the head. Although the majority of the experimental tests were successful in terms of reaching the target while being guided by the device, the experimental requirements were wide-ranging. The distances to be covered ranged from just a few meters to more than a kilometer, and while some of the devices worked autonomously, others required the experimenter to act as Wizard of Oz. To compare the usefulness and potential of these devices, we created a table in which we rated several relevant aspects such as autonomy, conspicuity and compactness. Major conclusions are that outdoor devices have the highest technology readiness level, because these allow autonomous navigation through GPS, and that the most compact devices still require the action of an experimenter. Unfortunately, none of the hands-free devices are at a level of readiness where they could be useful to people with visual impairments. The most important factor that should be improved is localization accuracy, which should be high and available at all times.","PeriodicalId":13215,"journal":{"name":"IEEE Transactions on Haptics","volume":"17 4","pages":"528-545"},"PeriodicalIF":2.4,"publicationDate":"2024-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141158363","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