World Haptics Conference. World Haptics Conference最新文献

{"title":"Individual differences impacting skin deformation and tactile discrimination with compliant elastic surfaces.","authors":"Bingxu Li,&nbsp;Gregory J Gerling","doi":"10.1109/whc49131.2021.9517222","DOIUrl":"https://doi.org/10.1109/whc49131.2021.9517222","url":null,"abstract":"<p><p>Individual differences in tactile acuity are observed within and between age cohorts. Such differences in acuity may be attributed to various sources, including aspects of nervous system, skin mechanics, finger size, cognitive and behavioral factors, etc. This work considers individual differences, within a younger cohort of participants, in discriminating compliant surfaces. These participants exhibit a range of finger size and stiffness. Interestingly, both their finger size and stiffness well predict their discriminative performance, where softer/smaller fingers outperform stiffer/larger fingers. Stereo imaging captured biomechanical cues in the skin's deformation, including contact area and penetration depth, and their change rates. In those individuals with stiffer/larger fingers, who perceptually performed worse, we observed less distinguishable contact areas and eccentricities, compared to softer/smaller fingers. These particular cues well predicted individual differences observed in perceptual discrimination. In comparison, with two other cues, curvature and penetration depth, the imaging readily distinguished the compliant surfaces irrespective of finger stiffness/size, not aligned with discrimination. In conclusion, in passive touch, we find that individuals with softer/smaller fingers were better at discriminating compliances, and that certain skin deformation cues predict individual differences in perception.</p>","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":" ","pages":"721-726"},"PeriodicalIF":0.0,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8778951/pdf/nihms-1736919.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39854143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Thin Films on the Skin, but not Frictional Agents, Attenuate the Percept of Pleasantness to Brushed Stimuli.","authors":"Merat Rezaei,&nbsp;Saad S Nagi,&nbsp;Chang Xu,&nbsp;Sarah McIntyre,&nbsp;Håkan Olausson,&nbsp;Gregory J Gerling","doi":"10.1109/whc49131.2021.9517259","DOIUrl":"https://doi.org/10.1109/whc49131.2021.9517259","url":null,"abstract":"<p><p>Brushed stimuli are perceived as pleasant when stroked lightly on the skin surface of a touch receiver at certain velocities. While the relationship between brush velocity and pleasantness has been widely replicated, we do not understand how resultant skin movements - e.g., lateral stretch, stick-slip, normal indentation - drive us to form such judgments. In a series of psychophysical experiments, this work modulates skin movements by varying stimulus stiffness and employing various treatments. The stimuli include brushes of three levels of stiffness and an ungloved human finger. The skin's friction is modulated via non-hazardous chemicals and washing protocols, and the skin's thickness and lateral movement are modulated by thin sheets of adhesive film. The stimuli are hand-brushed at controlled forces and velocities. Human participants report perceived pleasantness per trial using ratio scaling. The results indicate that a brush's stiffness influenced pleasantness more than any skin treatment. Surprisingly, varying the skin's friction did not affect pleasantness. However, the application of a thin elastic film modulated pleasantness. Such barriers, though elastic and only 40 microns thick, inhibit the skin's tangential movement and disperse normal force. The finding that thin films modulate affective interactions has implications for wearable sensors and actuation devices.</p>","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"2021 ","pages":"49-54"},"PeriodicalIF":0.0,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8763324/pdf/nihms-1736917.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9439748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Individual Performance in Compliance Discrimination is Constrained by Skin Mechanics but Improved under Active Control.","authors":"Chang Xu,&nbsp;Yuxiang Wang,&nbsp;Gregory J Gerling","doi":"10.1109/whc49131.2021.9517269","DOIUrl":"https://doi.org/10.1109/whc49131.2021.9517269","url":null,"abstract":"<p><p>Tactile acuity differs between individuals, likely a function of several interrelated factors. The extent of the impact of skin mechanics on individual differences is unclear. Herein, we investigate if differences in skin elasticity between individuals impact their ability to distinguish compliant spheres near limits of discriminability. After characterizing hyperelastic material properties of their skin in compression, the participants were asked to discriminate spheres varying in elasticity and curvature, which generate non-distinct cutaneous cues. Simultaneous biomechanical measurements were used to dissociate the relative contributions from skin mechanics and volitional movements in modulating individuals' tactile sensitivity. The results indicate that, in passive touch, individuals with softer skin exhibit larger gross contact areas and higher perceptual acuity. In contrast, in active touch, where exploratory movements are behaviorally controlled, individuals with harder skin evoke relatively larger gross contact areas, which improve and compensate for deficits in their acuity as observed in passive touch. Indeed, these participants exhibit active control of their fingertip movements that improves their acuity, amidst the inherent constraints of their less elastic finger pad skin.</p>","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":" ","pages":"445-450"},"PeriodicalIF":0.0,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8763326/pdf/nihms-1736914.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39830734","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Uncovering Human-to-Human Physical Interactions that Underlie Emotional and Affective Touch Communication.","authors":"Steven C Hauser, Sarah McIntyre, Ali Israr, Håkan Olausson, Gregory J Gerling","doi":"10.1109/whc.2019.8816169","DOIUrl":"10.1109/whc.2019.8816169","url":null,"abstract":"<p><p>Couples often communicate their emotions, e.g., love or sadness, through physical expressions of touch. Prior efforts have used visual observation to distinguish emotional touch communications by certain gestures tied to one's hand contact, velocity and position. The work herein describes an automated approach to eliciting the essential features of these gestures. First, a tracking system records the timing and location of contact interactions in 3-D between a toucher's hand and a receiver's forearm. Second, data post-processing algorithms extract dependent measures, derived from prior visual observation, tied to the intensity and velocity of the toucher's hand, as well as areas, durations and parts of the hand in contact. Third, behavioral data were obtained from five couples who sought to convey a variety of emotional word cues. We found that certain combinations of six dependent measures well distinguish the touch communications. For example, a typical sadness expression invokes more contact, evolves more slowly, and impresses less deeply into the forearm than a typical attention expression. Furthermore, cluster analysis indicates 2-5 distinct expression strategies are common per word being communicated. Specifying the essential features of touch communications can guide haptic devices in reproducing naturalistic interactions.</p>","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"2019 ","pages":"407-412"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8419857/pdf/nihms-1734581.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39393830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Roles of Force Cues and Proprioceptive Joint Angles in Active Exploration of Compliant Objects.","authors":"Chang Xu,&nbsp;Steven C Hauser,&nbsp;Yuxiang Wang,&nbsp;Gregory J Gerling","doi":"10.1109/whc.2019.8816159","DOIUrl":"https://doi.org/10.1109/whc.2019.8816159","url":null,"abstract":"<p><p>We employ distinct exploratory procedures to improve our perceptual judgments of an object's properties. For instance, with respect to compliance, we exert pressure against a resisting force. The present work investigates ties between strategies for active control of the finger and resultant cues by which compliances may be discriminated. In particular, we employ elastic spheres that co-vary in compliance and radius, as these generate non-differentiable contact areas and are discriminable only in active touch with proprioceptive inputs. During human-subjects psychophysical experiments, we measure touch force, fingertip displacement, and joint kinematics. Two active touch paradigms are used, with and without a force constraint. First, in behaviorally-controlled situations that make force cues non-useful, the results indicate that participants can employ a force-matching strategy between the compliant objects and rely upon displacement-related cues to differentiate them. We show these cues are directly tied to a proprioception mechanism, specifically, the angle of the MCP joint. However, in the fully active paradigm, participants control displacements instead and discriminate via force-related cues. Similar to prior findings in passive touch, we find that force-related cues, likewise, are used in active touch for the optimal and efficient discrimination of compliant objects.</p>","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"2019 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/whc.2019.8816159","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39613746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Can we restore natural perception with electrical stimulation?","authors":"Z. Kiss","doi":"10.1109/WHC.2015.7177673","DOIUrl":"https://doi.org/10.1109/WHC.2015.7177673","url":null,"abstract":"A useful tactile somatosensory prosthesis must (i) evoke somatosensory percepts in limited body regions, (ii) provide graded sensation, (iii) have reproducibility and persistence, (iv) provide the perception of slip and pressure, and (v) provide proprioception. With thalamic stimulation we have been able to produce 3 of these 5.","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"87 1","pages":"xvii"},"PeriodicalIF":0.0,"publicationDate":"2015-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85588343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Plenary talks The touch of a hand: Neural interfaces restore the sense of touch and position following limb loss","authors":"D. Tyler","doi":"10.1109/WHC.2015.7177672","DOIUrl":"https://doi.org/10.1109/WHC.2015.7177672","url":null,"abstract":"One of the first biology lessons in grade school is of the five senses: sight, sound, smell, taste, and touch. They are the (only) connection to the world and people around us. Of the five senses, touch is the one we take most for granted and least understand the devastating impact of its loss. The sense of touch comes from the skin, the largest sensory organ in the human body. For nearly 2 million people in the US and 185,000 more each year, the loss of sensation is one of the most significant effects of limb loss resulting from trauma or vascular disease. Body-powered prostheses are often preferred over more functional powered devices because the user can “feel” the pressure of a grip through a requisite body harness. Providing representative sensory information on the residual limb is unnatural and does not directly match the sensory locations expected by the user's visual experience of the prosthesis. We have addressed these challenges with permanently implanted, multi-contact nerve cuff electrodes on the residual ulnar, radial, and median nerves of subjects with limb loss. These electrodes directly and selectively activate the peripheral neural pathways, and hence all upstream pathways, normally responsible for sensation. Ninety percent of the channels produce physically unique locations of sensation, distributed around the hand and wrist. The quality of the sensation is controlled by using a patterned stimulation intensity. The pattern pulses are critical to the brain's interpretation of the sensation. Varying the pattern can produce multiple different sensations at a common location. The addition of sensation to the user during tasks improves fine motor control with standard myoelectric prostheses. The system has been implanted and stable for three years. The user reports feeling their hand - the missing hand - in touching and manipulating objects. Restoring feeling has allowed the individuals to, “feel [my] hand for the first time since the accident,” and “feel [my] wife touch my hand.” With more than five subject-years of experience, this work is leading the evolution of a new era in prostheses and haptic interfaces.","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"72 1","pages":"xvi"},"PeriodicalIF":0.0,"publicationDate":"2015-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80533740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Semi-plenary talk: Transition: From stiffness to softness","authors":"Ki-Uk Kyung","doi":"10.1109/WHC.2015.7177676","DOIUrl":"https://doi.org/10.1109/WHC.2015.7177676","url":null,"abstract":"This talk introduces a historical change of haptics research based on personal experience. For a long time, researchers had proposed various force or tactile display devices which need be placed on a table. The devices were mainly composed of very stiff supporting structure and rigid actuating/ sensing components such as electric motors, piezoelectric actuators, force/torque sensors and etc. With recent development of visual display devices, haptic interfaces have been investigated for interacting with portable touchscreen devices. For installation of haptic interface into touchscreen devices, the haptic components need to be miniaturized and sometimes they have to be transparent. Now, we have more challenging issues since flexible electronic devices and wearable devices are rapidly arousing people's interest in the market as well as a field of research. In order to apply haptics technology to future flexible interfaces, we need to consider new appearance of actuators and sensors. This talk starts from brief description of compact tactile displays and haptic interfaces for touchscreens, and mainly introduces current research activities for flexible and transparent haptic interface.","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"50 1","pages":"xx"},"PeriodicalIF":0.0,"publicationDate":"2015-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87329257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of an afferent neural interface designed to mimic natural proprioception","authors":"L. Miller","doi":"10.1109/WHC.2015.7177675","DOIUrl":"https://doi.org/10.1109/WHC.2015.7177675","url":null,"abstract":"Brain Machine Interfaces (BMIs) that use recordings from motor areas of the brain to effect movement of a robotic limb or even a patient's paralyzed limb have progressed tremendously in the past decade. However, a major issue to be addressed is the need to provide proprioceptive feedback through an afferent neural interface. Loss of proprioception largely eliminates the ability to plan movement dynamics or to make rapid corrections to limb perturbations even in the presence of vision. The representation of proprioceptive signals within the cortex has been far less studied than has touch, and while some progress has been made toward restoring touch through intracortical micro-stimulation of somatosensory cortex (S1), there has been as yet, very little corresponding success for proprioception. We have completed a series experiments designed to study the way limb movements are encoded by neurons in area 2 of S1. These neurons signal limb movement, whether generated actively by the monkey or as the result of a passive limb displacement. The discharge of most neurons is tuned to the direction of hand movement and can be summarized reasonably accurately by a sinusoidal tuning curve with a single “preferred direction” (PD). There is even evidence of an efference copy component of S1 activity that precedes the onset of active movement and is well aligned spatially with the afferent component. The representation of different movement directions by populations of S1 neurons is linearly separable, as is the brain state representing active and passive movements. The latter is likely due to the interaction of kinematic and force representation by individual neurons. We have now begun a new series of experiments, the goal of which is to evoke a sensation of directed limb movement by stimulating electrodes within S1 to recreate these natural patterns of cortical activity. By stimulating small groups of electrodes with similar PDs, we have succeeded in inducing perceptions of limb motion that appear to be similar to those caused by actual movement. We are working to develop a neuroprosthesis based on continuously varying stimulation of many electrodes, in order to restore proprioceptive feedback to patients with high-level spinal cord injury.","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"14 1","pages":"xix"},"PeriodicalIF":0.0,"publicationDate":"2015-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87333751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A high-performance velocity estimator for haptic applications","authors":"Kamran Ghaffari Toiserkan, J. Kövecses","doi":"10.1109/WHC.2013.6548396","DOIUrl":"https://doi.org/10.1109/WHC.2013.6548396","url":null,"abstract":"In this paper, a velocity estimator is introduced, which results in low-delay and low-noise velocity estimation based on the sampled-quantized position measurement. The method maintains its efficiency for a broad range of velocities and excitation frequencies. The algorithm is computationally efficient and operates well at virtually any sampling frequency. Better velocity observation, increases the efficiency of virtual dampers employed in impedance control; hence, the system remains stable at higher values of virtual stiffness. This work is supported by simulations and experiments.","PeriodicalId":75335,"journal":{"name":"World Haptics Conference. World Haptics Conference","volume":"60 1","pages":"127-132"},"PeriodicalIF":0.0,"publicationDate":"2013-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77742923","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}